An automatic switching approach to teleoperation of mobile-manipulator systems using virtual fixtures

Wrock, Michael R.; Nokleby, Scott B.

doi:10.1017/s0263574716000515

Cited by 6 publications

(3 citation statements)

References 40 publications

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“…Haptic feedback can be used for intuitive teleoperation of mobile robots and mobile manipulators (Masone et al 2018;Saeidi, Wagner, and Wang 2017;Wrock and Nokleby 2017). This enhances human capabilities since human intelligence can be easily transferred to robots.…”

Section: Related Workmentioning

confidence: 99%

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks

Al-Hussaini¹,

Thakar²,

Kim³

et al. 2020

Preprint

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Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator for such applications can be risky, as an inaccurate model of the workspace may result in damage to expensive equipment. On the other hand, the use of a fully teleoperated mobile manipulator may require a significant amount of operator time. In this paper, a semi-autonomous mobile manipulator is developed for safely and efficiently carrying out machine tending tasks under human supervision. The robot is capable of generating motion plans from the high-level task description and presenting simulation results to the human for approval. The human operator can authorize the robot to execute the automatically generated plan or provide additional input to the planner to refine the plan. If the level of uncertainty in some parts of the workspace model is high, then the human can decide to perform teleoperation to safely execute the task. Our preliminary user trials show that non-expert operators can quickly learn to use the system and perform machine tending tasks.

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Section: Related Workmentioning

confidence: 99%

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks

Al-Hussaini¹,

Thakar²,

Kim³

et al. 2020

Preprint

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“…Thus, we developed a Mobile Manipulation (MM) planning algorithm (MM planner) which virtually expands the manipulator's kinematic description to include the mobile base. A similar approach was recently described in [45] where a system automatically switched between manipulation and navigation subsystems depending on the distance between current and target EEF location. The system determined velocity commands but did not provide a trajectory planning framework.…”

Section: Mobile Manipulation Planningmentioning

confidence: 99%

TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface

2018

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Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator's cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator's command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)-which are platform and task dependent and thus difficult to scale-this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.

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“…In another more recent experimental work, Wrock and Nokleby [50] have presented a novel command strategy to combine human operator skill with haptic feedback to achieve better performance than previously attainable using only a single input device.…”

Section: *An Experimental Pointmentioning

confidence: 99%

Discrete-time control of bilateral teleoperation systems: a review

Ghavifekr¹,

Ghiasi²,

Badamchizadeh³

2017

Robotica

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SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

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An automatic switching approach to teleoperation of mobile-manipulator systems using virtual fixtures

Cited by 6 publications

References 40 publications

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks

TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface

Discrete-time control of bilateral teleoperation systems: a review

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