A Target-Guided Telemanipulation Architecture for Assisted Grasping

Laghi, Marco; Raiano, Luigi; Amadio, Fabio; Rollo, Federico; Zunino, Andrea; Ajoudani, Arash

doi:10.1109/lra.2022.3188436

Cited by 12 publications

(3 citation statements)

References 21 publications

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“…The initial pose, referred to as the home position, is selected taking into account factors such as the robot's dimensions and workspace. Subsequently, the picking pose is determined utilizing an artificial vision system [9] [1]. The selection of the placing pose considers the location of a designated storage cell.…”

Section: Resultsmentioning

confidence: 99%

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Joint Position Bounds in Resolved-Acceleration Control: A Comparison

Testa,

Raiano,

Laghi

et al. 2024

Human-Friendly Robotics 2023

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The implementation of human-friendly robots is based on the deployment of robots that can safely and effectively work with humans in various environments. To this end, enforcing joint limits in planning and control play a fundamental role in avoiding the robot to exceed its physical constraint and preventing joint damages or failures that could lead to unpredictable behavior or compromised safety. However, the implementation of such limitations in instantaneous controllers is not trivial when position, velocity, and acceleration limits are all considered together. In this work, we compare three State-of-the-Art methods, namely the P-Step Ahead Predictor, the Control Barrier Function, and Invariance. Finally, we select the most performing one applied in a real use case based on a UR5e manipulator for a picking task where hitting joint limits may represent an issue.

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Section: Resultsmentioning

confidence: 99%

“…(17) It is worth noticing that the bounds in (17) have the exact same form of the bounds in (9) with:…”

Section: Control Barrier Functions (Cbf)mentioning

confidence: 92%

Joint Position Bounds in Resolved-Acceleration Control: A Comparison

Testa,

Raiano,

Laghi

et al. 2024

Human-Friendly Robotics 2023

Self Cite

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“…For instance, for tasks involving grasping an object, a target-guided control strategy, such as the one proposed in ref. [29], can be adopted: a vision-based algorithm can be used to estimate and predict the next user's target and accordingly provide haptic assistance in the form of virtual fixtures. 4 As explained in Section 2.1, the recent gains in its capabilities and popularity are making VR interfaces an ideal candidate to generate the realistic and immersive experience needed to teleoperate a robot at a distance while feeling physically present at the remote side.…”

Section: Telerobotic System Controlmentioning

confidence: 99%

A virtual reality-based dual-mode robot teleoperation architecture

Gallipoli,

Buonocore,

Selvaggio

et al. 2024

Robotica

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This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.

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Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling

Zhang,

Cheng

et al. 2024

Nuclear Engineering and Technology

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A Target-Guided Telemanipulation Architecture for Assisted Grasping

Cited by 12 publications

References 21 publications

Joint Position Bounds in Resolved-Acceleration Control: A Comparison

Joint Position Bounds in Resolved-Acceleration Control: A Comparison

A virtual reality-based dual-mode robot teleoperation architecture

Nonlinear Model Predictive Control (NMPC) based shared autonomy for bilateral teleoperation in CFETR Remote Handling

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