Recent Enhancements to Mobile Bimanual Robotic Teleoperation with Insight Toward Improving Operator Control

584 INTRODUCTION Teleoperation refers to the direct human control of a machine from a distance. It is commonly associated with systems wherein the machine is represented by robotic mechanisms or mobile robots. Such systems are increasingly used on unmanned vehicles to enable a range of applications across a variety of domains including military, first responder, law enforcement, construction, hazardous material handling, and exploration of deep ocean, space, and planetary surface environments. The ability to affect environments through manipulation of robotic arms and attached end-effectors (hands and tools) lets human operators project their intent and capability from safe locations, facilitated by sensor feedback from a teleoperated system at a remote location, n a number of environments and scenarios where it is dangerous, impractical, or impossible to send humans, robotic teleoperation is used. It enables human-teleoperated robotic systems to move around in and manipulate such environments from a distance, effectively projecting human capabilities into those environments to perform complex tasks. Bimanual robots are equipped with two arms/hands and have the capacity to perform many tasks, particularly when integrated with mobile platforms. This article provides an overview of two mobile bimanual robotic system prototypes designed to be teleoperated by human operators to perform unmanned ground vehicle missions. It highlights limitations in robot sensing and control that were observed during the course of conducting research on improving the effectiveness of human operator control. System enhancements are discussed that are aimed at achieving this goal through robot sensor augmentation, increased operator situational awareness, and a robot control approach for facilitating human operator control. These enhancements are expected to improve human–robot capabilities for future unmanned vehicle applications. Recent Enhancements to Mobile Bimanual Robotic Teleoperation with Insight Toward Improving Operator Control