Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation
By Marco Laghi, Michele Maimeri, Mathieu Marchand, Clara Leparoux, Manuel Giuseppe Catalano, Arash Ajoudani, Antonio Bicchi. 2018
62 citations recorded by the source corpus.
Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user's dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.
Subfields: Control and Systems Engineering, Mechanical Engineering, Human-Computer Interaction
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Control and Systems Engineering
- Yuke Zhu
- Ajay Mandlekar
- Li Fei-Fei
- Silvio Savarese
- Roberto Mart'in-Mart'in
- Josiah Wong
- Antonio Bicchi
- Danfei Xu
In Mechanical Engineering
- Yuke Zhu
- Li Fei-Fei
- Ajay Mandlekar
- Silvio Savarese
- Roberto Mart'in-Mart'in
- Antonio Bicchi
- Josiah Wong
- Linxi (Jim) Fan
In Human-Computer Interaction
Citations in the corpus
- Learning Multi-Arm Manipulation Through Collaborative Teleoperation (2020, background): “Furthermore, such systems can require sophisticated human-control interfaces [19, 22], such as Virtual Reality devices which are not widely available, consequently limiting the set of users that can participate in”
- Robot Programming without Coding (2020, background): “For more details about the management of the EMG signals and the calibration see [22].”
- GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators (2023, unknown): “However, collecting human demonstrations can be expensive and time-consuming.”