Shared control of multiple-manipulator, sensor-based telerobotic systems

Williams, Robert L.; Harrison, F. W.; Soloway, Don

doi:10.1109/robot.1997.614259

Cited by 12 publications

(6 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Among others, shared-control teleoperation architectures have the primary goal of making the remote task execution less tiring for the operator by combining their commands with those of an autonomous controller. The benefits introduced by sharing the control over a task on the human operator's physical and cognitive workload have already been demonstrated in multiple contexts, such as remote control of a group of aerial robots [4], [27], [28], dual-arm telemanipulation [7], [29], [30], or execution of space exploration tasks using multi-robot systems [31]. Haptics is sometimes used in shared control as a means of communication between the user and the autonomous controller [6], [32].…”

Section: A Related Workmentioning

confidence: 99%

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

et al. 2022

View full text Add to dashboard Cite

This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on a tray. Differently from many existing studies about remotely operated robots with firm grasping capabilities, we consider the case in which, in principle, the object can break its contact with the robot end-effector. The proposed shared-control approach automatically regulates the remote robot motion commanded by the user and the end-effector orientation to prevent the object from sliding over the tray. Furthermore, the human operator is provided with haptic cues informing about the discrepancy between the commanded and executed robot motion, which assist the operator throughout the task execution.We carried out trajectory tracking experiments employing an autonomous 7 degree-of-freedom (DoF) manipulator and compared the results obtained using the proposed approach with two different control schemes (i.e., constant tray orientation and no motion adjustment). We also carried out a human-subjects study involving eighteen participants, in which a 3-DoF haptic device was used to teleoperate the robot linear motion and display haptic cues to the operator. In all experiments, the results clearly show that our control approach outperforms the other solutions in terms of sliding prevention, robustness, commands tracking, and user's preference.

show abstract

Section: A Related Workmentioning

confidence: 99%

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

et al. 2022

View full text Add to dashboard Cite

show abstract

“…SC was primarily introduced as a control architecture for remotely operated robots where embedding some autonomy in the robot was essential to overcome large communication delays between the local and remote sites [8]. Classically, the architectures corresponding to different human interaction modalities have been grouped into three classes: 1) direct control, which implies no intelligence or autonomy in the system, all the degrees-of-freedoms (DoFs) of the robot are directly controlled by the user via local interfaces; 2) supervisory control, where the user commands and feedback occur at a higher level, the connection is looser and the robot has to rely on a stronger local autonomy to refine and execute tasks [9], [10]; 3) shared control, comprehensive of all the intermediate levels in which the robot is controlled by a combination of direct user commands and autonomy [11]. In this context, the most preeminent classification of autonomy levels was proposed in [12].…”

Section: Shared Controlmentioning

confidence: 99%

Autonomy in Physical Human-Robot Interaction: A Brief Survey

Selvaggio

Cognetti²,

Nikolaidis³

et al. 2021

IEEE Robot. Autom. Lett.

115

View full text Add to dashboard Cite

Sharing the control of a robotic system with an autonomous controller allows a human to reduce his/her cognitive and physical workload during the execution of a task. In recent years, the development of inference and learning techniques has widened the spectrum of applications of shared control (SC) approaches, leading to robotic systems that are capable of seamless adaptation of their autonomy level. In this perspective, shared autonomy (SA) can be defined as the design paradigm that enables this adapting behavior of the robotic system.This letter collects the latest results achieved by the research community in the field of SC and SA with special emphasis on physical human-robot interaction (pHRI). Architectures and methods developed for SC and SA are discussed throughout the paper, highlighting the key aspects of each methodology. A discussion about open issues concludes this letter.

show abstract

“…According to the topological structure of multilateral systems, they are categorized as Single-leader/Multi-follower (SL/MF), see for example [4,[225][226][227][228][229], Multi-leader/Singlefollower (ML/SF), see for example [230][231][232], and Multi-leader/Multi-follower (ML/MF), see for example [4,[233][234][235][236][237][238][239][240][241][242][243][244][245][246]. These systems allow for the realization of a variety of new tasks that require multiport communication between distributed modules such as collaboration and interactions between multiple network terminals, multiple robots, and multiple operators enhancing efficacy, precision/accuracy, dexterity/manipulability, loading capacity (through distributed power) and handling capability through joint task conduction and shared autonomy, see for example [218,227,230,[247][248][249][250][251][252].…”

Section: Multilateral Teleoperationmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

View full text Add to dashboard Cite

The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

show abstract

Shared control of multiple-manipulator, sensor-based telerobotic systems

Cited by 12 publications

References 12 publications

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

Autonomy in Physical Human-Robot Interaction: A Brief Survey

Review of Advanced Medical Telerobots

Contact Info

Product

Resources

About