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by Florian Kennel-Maushart, Roi Poranne and Stelian Coros.
IEEE International Conference on Robotics and Automation (ICRA) 2021
Abstract:
Teleoperation offers human operators a way to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool for teaching robots to achieve autonomous behavior in the future. The increasing availability of collaborative robotic arms and Virtual Reality (VR) devices offers ample opportunities for the development of novel teleoperation methods. Because robotic arms are often kinematically different from human arms, assigning human movements to a robot in real time is not trivial. Furthermore, a human operator may steer the robotic arm towards singularities or workspace boundaries, which may lead to undesired behavior. This is further accentuated for the orchestration of multiple robots. In this paper, we present a VR interface focused on multi-arm payload manipulation, which closely matches real-time motion input. By allowing the user to manipulate the payload instead of assigning its movements to individual arms, we can guide multiple collaborative arms simultaneously. By rotating a single
degree of freedom, and by using a local optimization method, we can improve the manipulability index of each arm, which in turn allows us to avoid kinematic singularities and workspace constraints. We apply our approach to predefined trajectories and real-time teleoperation on different robotic arms and compare the performance in terms of end-effector position error and relevant joint motion metrics.
https://twitter.com/ComputationalR2
Florian Kennel-Maushart:
https://twitter.com/FloMaushart
King Poranne:
https://inf.ethz.ch/personal/poranner/
https://www.youtube.com/user/roiifica…
https://twitter.com/roiporanne
Stelian Coros:
http://crl.ethz.ch/coros.html
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