We propose novel haptic guidance methods for a dual-arm telerobotic manipulation system, which are able to deal with several different constraints, such as collisions, joint limits, and singularities. We combine the haptic guidance with shared-control algorithms for autonomous orientation control and collision avoidance meant to further simplify the execution of grasping tasks. The stability of the overall system in various control modalities is presented and analyzed via passivity arguments. In addition, a human subject study is carried out to assess the effectiveness and applicability of the proposed control approaches both in simulated and real scenarios. Results show that the proposed haptic-enabled shared-control methods significantly improve the performance of grasping tasks with respect to the use of classic teleoperation with neither haptic guidance nor shared control.
Sharing the control of a robotic system with an autonomous controller allows a human to reduce his/her cognitive and physical workload during the execution of a task. In recent years, the development of inference and learning techniques has widened the spectrum of applications of shared control (SC) approaches, leading to robotic systems that are capable of seamless adaptation of their autonomy level. In this perspective, shared autonomy (SA) can be defined as the design paradigm that enables this adapting behavior of the robotic system.This letter collects the latest results achieved by the research community in the field of SC and SA with special emphasis on physical human-robot interaction (pHRI). Architectures and methods developed for SC and SA are discussed throughout the paper, highlighting the key aspects of each methodology. A discussion about open issues concludes this letter.
Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with haptic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energytanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot.
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