A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use

Frejek, M.; Nokleby, Scott B.

doi:10.1017/s0263574712000318

Cited by 4 publications

(4 citation statements)

References 21 publications

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“…DoF joystick was investigated in [15]. The authors propose a control approach where the user controls the gripper pose, while the mobile base adapts and follows the gripper when possible and needed, to avoid over extending the arm.…”

Section: Related Workmentioning

confidence: 99%

Adaptive object centered teleoperation control of a mobile manipulator

Båberg

Wang

Caccamo

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is identical to the ones being used to locally navigate the virtual viewpoint of most Computer Aided Design (CAD) softwares.The proposed mobile manipulator control framework thus allows the user to focus on the 3D objects being manipulated, using control modes such as orbit object and pan object, supported by data from the wrist mounted RGB-D sensor. The gripper of the robot performs the desired motions relative to the object, while the manipulator arm and base moves in a way that realizes the desired gripper motions. The system redundancies are exploited in order to take additional constraints, such as obstacle avoidance, into account, using a constraint based programming framework.

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Section: Related Workmentioning

confidence: 99%

Adaptive object centered teleoperation control of a mobile manipulator

Båberg

Wang

Caccamo

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…They map the input commands of the operator, usually from a haptic device or a joystick, to the robot workspace. This mapping is usually done in the position dimension, using a mappping from the haptic position to the robot position (position-position mapping), a position-linear velocity mapping, or an hybrid mapping, and it has to account for the scaling and the unbound workspace for mobile robots [9,10]. Dynamic point of view, which deals with the orientation, can also be found for robot teleoperation [11] and in the exploration of virtual environments [12].…”

Section: Introductionmentioning

confidence: 99%

Using an UAV to guide the teleoperation of a mobile manipulator

Claret¹,

Basañez²

2020

XXXVIII Jornadas De Automática: Gijón, 6, 7, Y 8 De Septiembre De 2017

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In this paper, a new teleoperation system consisting on the integration of a mobile manipulator, an UAV, and a haptic is presented. The camera of the UAV is used to give visual feedback to the operator. An algorithm is presented to allow the operator to command both the UAV and the mobile manipulator while keeping the point of view pointing towards the robot by only using a single haptic device. The presented algorithm combines a position-position and a position-velocity workspace mapping from the haptic to the mobile manipulator and the UAV, both in position and orientation. Further, a solution is presented that takes advantage of the null space of the mobile manipulator to keep the body and the arm of the mobile manipulator from occluding its own TCP and the object it is carrying, thus easing the teleoperation task. Experimentation has been carried on the system, both in a virtual and a real scenario, showing its potential in teleoperation scenarios. Overall, a novel teleoperation system and the ongoing progress towards its implementation in real situations is presented in this work.

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“…They map the input commands of the operator, usually from a haptic device or a joystick, to the robot workspace. This mapping is usually done in the position dimension, using a mappping from the haptic to the robot position (position-position mapping), a position-linear velocity mapping, or an hybrid mapping, and it has to account for the scaling and the unbound workspace for mobile robots [19]- [22]. Dynamic point of view deals with the orientation and can also be found for robot teleoperation [23] and in the exploration of virtual scenarios [24].…”

Section: Introductionmentioning

confidence: 99%