Occlusion-Free Visual Servoing for the Shared Autonomy Teleoperation of Dual-Arm Robots
Occlusion-Free Visual Servoing for the Shared Autonomy Teleoperation of Dual-Arm Robots
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DOI：
10.1109/lra.2018.2792143
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发表时间：
2018-04-01
影响因子：
5.2
通讯作者：
Rocco, Paolo
中科院分区：
文献类型：
--
作者：
Nicolis, Davide;Palumbo, Marco;Rocco, Paolo
远程机器人中的视觉伺服向操作员提供有关远程位置的信息，并协助任务执行以减少对用户的压力。在这种情况下，遮挡一方面会导致视觉伺服失败，另一方面，由于兴趣元素的视觉受阻，会降低用户体验和导航性能。在这封信中，我们考虑了一个由两个机器人手臂组成的远程操作系统，其中一个是远程操作的，而另一个是自主的，配备了一个眼握相机传感器。我们提出了一种基于响应式统一凸优化的控制器，该控制器可以通过自主调节相机机器人来执行无遮挡任务，从而使遥控机器人保持在视野内。在优化过程中，遮挡避免被表述为图像空间中的约束，其形式来源于碰撞避免类比，并对噪声测量和动态环境具有鲁棒性。状态机用于在可能发生阻塞时切换控制策略。我们在一台配有红、绿、蓝（RGB）摄像头的ABB YuMi双臂机器人上进行了实验，验证了我们的方法，该机器人由一台3英尺的Novint Falcon设备远程操作。
Visual servoing in telerobotics provides information to the operator about the remote location and assists in the task execution to reduce stress on the user. Occlusions in this scenario can, on the one hand, lead to the visual servoing failure, and, on the other hand, degrade the user experience and navigation performance due to the obstructed vision of elements of interest. In this letter, we consider a teleoperation system composed of two robot arms where one is remotely operated, while the other is autonomous and equipped with an eye-in-hand camera sensor. We propose a reactive unified convex optimization based controller that allows the execution of occlusion-free tasks by autonomously adjusting the camera robot, so as to keep the teleoperated one in the field of view. The occlusion avoidance is formulated inside the optimization as a constraint in the image space, it is formally derived from a collision avoidance analogy and made robust against noisy measurements and dynamic environment. A state machine is used to switch the control policy whenever an occlusion might occur. We validate our approach with experiments on a 14 d.o.f. dual-arm ABB YuMi robot equipped with an red, green, blue (RGB) camera and teleoperated by a 3 d.o.f. Novint Falcon device.