Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation
Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation
复制标题
用于直观双手远程操作的共享自主控制
DOI：
10.1109/humanoids.2018.8625047
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
A. Bicchi
中科院分区：
文献类型：
--
作者：
Marco Laghi;Michele Maimeri;Mathieu Marchand;Clara Leparoux;M. Catalano;A. Ajoudani;A. Bicchi
现有的双臂遥操作系统采用人臂与机械臂一对一耦合的方式，以充分发挥用户在进行双手遥操作时的灵巧性。虽然机器人末端执行器的个人协调对于复杂和非对称任务是必要的，但在对称的手工任务（例如操作和搬运物体）中，它可能会导致繁琐的用户体验。本文提出了一个包含一对一直接控制和新的共享自治策略的新框架。用户可以在两者之间自主选择，如果选择了新的，机器人就会以协调的方式移动，在这种方式中，期望的位置是从用户的一个手臂的运动和手势中推断出来的。这些手势命令由控件解释和处理，目的是减轻用户的认知负担。最后，将远程阻抗模式（即机器人阻抗和位置参考的远程控制）应用于这两个控制，以提高远程物理交互性能。本文报告了提出的总体架构，它的实现和它的初步验证通过一个多学科的实验活动。
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.