Arm Teleoperation in Clutter Using Virtual Constraints from Real Sensor Data
نویسندگان
چکیده
We introduce CAT, a constraint-aware teleoperation method that can track continuously updating 6-DOF end-effector goals while avoiding environment collisions, self-collisions, and joint limits. Our method uses sequential quadratic programming to generate motion trajectories that obey kinematic constraints while attempting to reduce the distance to the goal with each step. Environment models are created and updated at run-time using a commodity depth camera. We compare our method to three additional teleoperation strategies, based on global motion planning, inverse kinematics, and Jacobian-transpose control. Our analysis, using a real robot in a variety of scenes, highlights the strengths of each method, and shows that the CAT method we introduce performs well over a wide range of scenarios.
منابع مشابه
New Trends in Legged Robots Teleoperation
This paper considers legged robot teleoperation using advanced supervisory tools. It is nowaday recognized that designing completely autonomous robots to act on unstructured or not well known environments is an utopic goal. Human operator must be kept in the control loop (supervision) during the exploratory or manipulation procedure. We propose to use virtual reality (VR) technology to enhance ...
متن کاملTowards Safe Real-Time Robot Teleoperation: Automatic Whole-Sensitive Arm Collision Avoidance Frees the Operator for Global Control
In traditional teleoperation systems, the operator is saddled with two distinct tasks: 1) move the robot arm to its desired position, and 2) avoid obstacles that can obstruct the robot arm manipulator. To accomplish these tasks, an area of current teleoperation research is involved with providing the operator with as much input information about the task site as possible using, for example, ste...
متن کاملUnilateral Master-slave Robot Teleoperation by Means of a User Wearable Interface Based on Inertial Sensors
In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...
متن کاملEnhanced Teleoperation Exhibiting Tele-autonomy and Tele-collaboration
This paper presents enhanced remote manipulation of tools for D&D tasks by extending teleoperation with teleautonomy and tele-collaboration. This work builds on a reactive, agent-based control architecture, which is well suited to unstructured and unpredictable environments, and cobot control technology, which implements a virtual fixture that can be used to guide the application of tools with ...
متن کاملReal-time collision avoidance in teleoperated whole-sensitive robot arm manipulators
In traditional teleoperation systems, the human operator is saddled with two distinct tasks: 1) moving the robot arm to its desired position, and 2) avoiding obstacles that can obstruct the robot arm manipulator. To accomplish these tasks, an area of current teleoperation research concentrates on providing the operator with as much input information about the task site as possible using, for ex...
متن کامل