A Framework for Customizable Multi-User Teleoperated Control
A Framework for Customizable Multi-User Teleoperated Control
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DOI：
10.1109/lra.2021.3062604
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发表时间：
2021-04-01
影响因子：
5.2
通讯作者：
Fischer, Gregory S.
中科院分区：
文献类型：
--
作者：
Munawar, Adnan;Wu, Jie Ying;Fischer, Gregory S.
传统的遥操作(领导者/跟随者)系统主要集中在一个操作者控制一个远程机器人，但随着机器人变得无处不在，对包括自主代理在内的多个操作者协作控制多个机器人的需求越来越大。然而，现有的遥操作框架本身并不支持各种可能的协作，例如多个操作员，每个操作员具有输入设备(领导者)、控制机器人和摄像机或单个机器人(跟随者)的不同自由度。同样的概念也适用于通过物理输入设备在模拟环境中遥控机器人。在这封信中，我们扩展了我们的新型模拟框架，该框架能够将多个输入设备与实时动态模拟相结合，以结合可定制的共享控件。为此，我们确定并实现了一组足够的坐标框架，以共享的异步方式和力反馈来封装多个领导者、追随者和相机的配对。我们通过由主管共享控制来展示此框架在加快用户培训、易学和缩短任务完成时间方面的效用。
Traditional teleoperation (leader/follower) systems primarily focus on one operator controlling one remote robot, but as robots become ubiquitous, there is an increasing need for multiple operators, including autonomous agents, to collaboratively control multiple robots. However, existing teleoperation frameworks do not inherently support the variety of possible collaborations, such as multiple operators, each with an input device (leader), controlling a robot and camera or different degrees of freedom of a single robot (follower). The same concept applies to teleoperating robots in a simulation environment through physical input devices. In this letter, we extend our novel simulation framework that is capable of incorporating multiple input devices asynchronously with a real-time dynamic simulation to incorporate a customizable shared control. For this purpose, we have identified and implemented a sufficient set of coordinate frames to encapsulate the pairing of multiple leaders, followers and cameras in a shared asynchronous manner with force feedback. We demonstrate the utility of this framework in accelerating user training, ease of learning, and enhanced task completion times through shared control by a supervisor.