Shared control in hybrid vision/force robotic servoing using the task frame

Hybrid position/force control can be extended to incorporate visual servoing. Together with the Task Frame Formalism (TFF), it forms the basis to easily model, implement and execute robotic tasks in an uncalibrated workspace, using traded, hybrid or shared vision/force control. This paper emphasizes shared control in which both vision and force simultaneously control a given task frame direction. Our work shows the usefulness and feasibility of a range of tasks using shared control. Moreover, it offers a framework based on the TFF to distinguish between different (and partly new) forms of shared control. Each basic form is illustrated by a robotic task with shared control in one direction. In addition, an extension to classify multi-dimensional shared control tasks is presented. As shown by the experimental results, the tasks at hand benefit from the shared control approach.