Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance

Christian Lenz, Sven Behnke
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引用次数: 5

Abstract

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.
力与触觉反馈的双手遥控与预测极限规避
机器人遥操作是一项具有广泛应用前景的关键技术。它允许将机器人代替人类送到遥远的、可能危险的地方,同时仍然使用人类的大脑和其丰富的知识和创造力,特别是在解决意想不到的问题时。远程操作的一个主要挑战包括为人类操作员提供足够的反馈以获得态势感知,从而创造完全的沉浸感,以及为操作员提供合适的控制接口以实现高效和鲁棒的任务完成。提出了一种由拟人机器人和操作者站组成的双手遥控系统,该系统向操作者提供力和触觉反馈。化身的手臂在笛卡尔空间中以1:1的比例映射操作员的动作进行控制。测量的力和扭矩在化身的一边是直观地直接显示给操作员。我们开发了一种用于限制规避的预测化身模型,该模型运行在操作员端,确保低延迟。只使用现成的组件来构建系统。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。
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