Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback

Li, Wenwen; Huang, Fanghao; Chen, Zihao; Chen, Zheng

doi:10.1016/j.mechatronics.2024.103164

Mechatronics

2024

DOI: 10.1016/j.mechatronics.2024.103164

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Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback

Wenwen Li,

Fanghao Huang,

Zihao Chen

et al.

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2024

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Cited by 2 publications

References 33 publications

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Delayed Bilateral Teleoperation of Mobile Manipulators With Hybrid Mapping: Rate/Nonlinear-Position Modes

CHICAIZA,

SLAWIñSKI,

MUT

2024

IEEE Open J. Ind. Electron. Soc.

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Delayed Bilateral Teleoperation of Mobile Manipulators With Hybrid Mapping: Rate/Nonlinear-Position Modes

CHICAIZA,

SLAWIñSKI,

MUT

2024

IEEE Open J. Ind. Electron. Soc.

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Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks

Nagate,

Nagano,

Tazaki

et al. 2024

Robotics

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This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rate-3D”) and position control (“Position-3D”), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that “Position-3D” outperformed others for sagittal excavation, while both “Rate-lever” and “Rate-3D” were more effective for turning. Notably, “Position-3D” and “Rate-3D” can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks.

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Automatic-switching-based teleoperation framework for mobile manipulator with asymmetrical mapping and force feedback

Cited by 2 publications

References 33 publications

Delayed Bilateral Teleoperation of Mobile Manipulators With Hybrid Mapping: Rate/Nonlinear-Position Modes

Delayed Bilateral Teleoperation of Mobile Manipulators With Hybrid Mapping: Rate/Nonlinear-Position Modes

Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks

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