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Assisted Telemanipulation: A Stack-of-Tasks Approach to Remote Manipulator Control
Orebro Univ, Ctr Appl Autonomous Sensor Syst AASS, Fakultetsgatan 1, S-70182 Orebro, Sweden..
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0001-9603-1677
Orebro Univ, Ctr Appl Autonomous Sensor Syst AASS, Fakultetsgatan 1, S-70182 Orebro, Sweden..
Orebro Univ, Ctr Appl Autonomous Sensor Syst AASS, Fakultetsgatan 1, S-70182 Orebro, Sweden..
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2018 (English)In: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L, IEEE , 2018, p. 6640-6645Conference 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 , 2018. p. 6640-6645
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-246314DOI: 10.1109/IROS.2018.8594457ISI: 000458872706014ISBN: 978-1-5386-8094-0 (print)OAI: oai:DiVA.org:kth-246314DiVA, id: diva2:1297371
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved

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Krug, Robert

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