Motion Regulation Solutions to Holding & Moving an Object for Single-Leader-Dual-Follower Teleoperation

This paper provides solutions for a single-leader-dual-follower (SLDF) teleoperation system to collaboratively transport an object. First, regulate the direct-teleoperated follower robot (DFR), we employ relative pose transformation algorithm, based on “re-fixing” leader and DFR together, enable that operator can ergonomically guide without requiring any specific initial position, ensuring higher precision at same time. Second, assistive (AFR), provide efficient technique acquire right orientation achieve holding. In addition, devise adjustable artificial potential field method (APFM) autonomously AFR's position ready-to-hold pose, where operator's motion is involved. At last, combination of auto-regressive model impedance model, generate reference trajectory AFR follow, which enables followers hold rigid or deformable object with desired contact force. Simulations experimental results verify feasibility effectiveness proposed method.