Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance
Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance
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具有力和触觉反馈以及预测性极限避免的双手遥控操作
DOI：
10.1109/ecmr50962.2021.9568842
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Christian Lenz;Sven Behnke
机器人遥操作是多种应用的关键技术。它允许将机器人而不是人类送到偏远，可能危险的地方，同时仍然使用人类大脑的巨大知识和创造力，特别是解决意想不到的问题。远程操作的主要挑战包括为操作员提供足够的反馈以实现态势感知，从而创建完全沉浸，以及为操作员提供合适的控制界面以实现高效和鲁棒的任务完成。我们提出了一个双手遥控系统，包括一个拟人化的化身机器人和操作员站提供力和触觉反馈给人类操作员。化身手臂在笛卡尔空间中被控制，具有操作员移动的1：1映射。化身侧上的测得的力和扭矩直接触觉地显示给操作者。我们开发了一个预测性的化身模型，用于在操作员端运行的限制避免，确保低延迟。只有现成的组件被用来建立系统。它在实验室实验中进行评估，并由未经培训的操作员在小型用户研究中进行评估。
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a 1:1 mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed directly to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. Only off-the-shelf components were used to build the system. It is evaluated in lab experiments and by untrained operators in a small user study.