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Assisted Telemanipulation: A Stack-Of-Tasks Approach to Remote Manipulator Control
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-6013-4874
Robotics, Learning and Perception lab, Royal Institute of Technology, Stockholm, Sweden.
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-0305-3728
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-0334-2554
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Press, 2018Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an approach for assisted teleoperation of a robot arm, formulated within a real-time stack-of-tasks (SoT) whole-body motion control framework. The approach leverages the hierarchical nature of the SoT framework to integrate operator commands with assistive tasks, such as joint limit and obstacle avoidance or automatic gripper alignment. Thereby some aspects of the teleoperation problem are delegated to the controller and carried out autonomously. The key contributions of this work are two-fold: the first is a method for unobtrusive integration of autonomy in a telemanipulation system; and the second is a user study evaluation of the proposed system in the context of teleoperated pick-and-place tasks. The proposed approach of assistive control was found to result in higher grasp success rates and shorter trajectories than achieved through manual control, without incurring additional cognitive load to the operator.

Place, publisher, year, edition, pages
IEEE Press, 2018.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0866
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71310DOI: 10.1109/IROS.2018.8594457OAI: oai:DiVA.org:oru-71310DiVA, id: diva2:1277231
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018
Available from: 2019-01-09 Created: 2019-01-09 Last updated: 2019-01-18Bibliographically approved

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Stoyanov, TodorKiselev, AndreySun, DaLoutfi, Amy

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