Miniature Tangible Cube: Concept and Design of Target-Object-Oriented User Interface for Dual-Arm Telemanipulation
Miniature Tangible Cube: Concept and Design of Target-Object-Oriented User Interface for Dual-Arm Telemanipulation
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DOI：
10.1109/lra.2021.3096475
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发表时间：
2021-10-01
影响因子：
5.2
通讯作者：
Inaba, Masayuki
中科院分区：
文献类型：
--
作者：
Kitagawa, Shingo;Hasegawa, Shun;Inaba, Masayuki
近年来，机器人遥操作的研究不断深入，提出了许多面向末端执行器的控制系统，但这些系统只能表达末端执行器的位姿和力指令，难以完成目标物体、机器人和环境之间有物理接触的操作任务，如双臂操作。在这项研究中，我们提出了面向目标对象的用户界面（TOOUI），专注于目标对象，而不是机器人的末端效应器，并开发了一个有形的设备，称为微型TubeCube作为TOOUI。通过该装置，飞行员可以表达目标物体的目标方位和接触状态，机器人可以遥控完成具有几何和物理约束的双臂操作任务。对于双臂操作任务，我们还实现了一个双臂遥操作系统的Miniature Tumble Cube使用基于状态机的运动规划器。在实验中，我们评估了我们的系统与微型TubeCube进行双臂操作任务与双臂机器人PR 2在真实的世界。
In recent years, there has been a great deal of research on teleoperation of robots, and many end-effector-oriented control systems have been proposed, but these systems have difficulties in performing manipulation tasks with physical contacts between the target object, the robot, and the environment, such as dual-arm manipulation, because these systems can only express the end-effectors' pose and force commands. In this study, we propose Target-object-oriented User Interface (TOOUI) that focuses on the target object rather than the end effectors of the robot, and develop a tangible device called Miniature Tangible Cube as a TOOUI. Through this device, the pilot can express the target orientation and contact state of the target object, and the robot can be teleoperated to do dual-arm manipulation tasks with geometric and physical constraints. For dual-arm manipulation tasks, we also implement a dual-arm telemanipulation system with the Miniature Tangible Cube using the motion planner based on state machine. In the experiments, we evaluated our system with the Miniature Tangible Cube by conducting dual-arm manipulation tasks with the dual-arm robot PR2 in the real world.