A Scalable Framework for Multi-Robot Tele-Impedance Control

Abstract

In this manuscript, we present an online scalable tele-impedance framework, which enables the individual and collaborative control of multiple different robotic platforms. The framework provides an intuitive low-cost interface with visual feedback and a SpaceMouse, through which the operator can define the desired task-level trajectories and impedance profiles. With a simple SpaceMouse click, the user can switch between the robots and the collaborative operation mode. The control, subsequently, manages the distribution of the required parameters into the involved robots. Thanks to the introduced virtual hand concept where each robot is defined as a finger, new robots can be easily added or removed via their kinodynamic parameters. The proposed framework was evaluated with three different experiments: a simulated auscultation on a mock-up patient, a cooperative task where a robot drives the patient on a wheelchair and a different robot performs the auscultation, and a collaborative task where two robots relocate a container. The results demonstrate the capabilities of the framework in terms of adaptability to different robotic platforms, the number of robots involved, and the task requirements. Additionally, quantitative and subjective analysis of 12 subjects showed how the developed interface, even in the presence of inaccurate visual feedback, allowed a smooth and accurate execution of the tasks.

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

“…The UIs are implemented based on (i) a whole-body MoCap system in standing body posture, and (ii) a 3D mouse device in seated body posture. The choice of these two UIs is due to (i) the diversity among them, which allows a more comprehensive analysis of the proposed framework and (ii) the familiarity we have with their implementation and usage since they have been investigated and employed in previous studies [10], [30]. However, other different UIs may have been potentially employed to assess the developed metrics.…”

“…4, two separate control modes, i.e., locomotion and Fig. 4: The unified block diagram of the two teleoperation interfaces, i.e., MoCap system [10] and 3D mouse device [30], for controlling a mobile robotic manipulator [10], [31]- [33]. manipulation, are considered to control the robot's wholebody loco-manipulation behaviour.…”

“…The second interface implies the user to sit behind a desk [30]. The operator controls the remote follower robot with a 3D mouse device, named SpaceMouse® Compact (3Dconnexion, UK).…”

Using EtherCAT technology to launch online automated guided vehicle manipulation with unity‐based platform for smart warehouse management

“…To Indeed, this network finds utility across various scenarios within multi-robot systems, including medical applications [34], remote swarm robots [35], and shared autonomous robots [36]. Leveraging the robust attributes of the EtherCAT protocol, this network permits the deployment of a multitude of interconnected agents while necessitating only one master station.…”

Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation

“…There are two primary types of interfaces between HAs and RAs. One allows HAs to utilize remote controllers, such as gamepads or keyboards, to interact with RAs [7]. Another permits HAs to use body movement captured by motion capture technology to interact with RAs [8].…”