A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-Arm Systems

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or more intuitive interfaces which map directly the user arm motions into one robot arm's motions. These approaches have limits when execution of given task requires reconfigurable multiple systems. Indeed, simultaneous two arms could extend workspace manipulation cell, increase its total payload, afford other advantages. In different phases multi-arm system, each act as an independent arm, pair cooperating arms, fingers virtual, large hand. This manuscript proposes novel telemanipulation framework enables both individual combined any number arms. Thanks designed architecture, human operator can intuitively choose proposed modalities make convenient execute through interface. Moreover, tele-impedance paradigm, system address physical interaction by letting mimic impedance position references operator. The validated with 8 subjects controlling 4 Franka Emika Panda robots 7-DoFs task. Qualitative results experiments show us promising applicability our framework.