Advanced Telerobotics: Dual-Handed and Mobile Remote Manipulation

Buss, Martin; Lee, Kwang Kyu; Nitzsche, Norbert; Peer, Angelika; Stanczyk, Bartlomiej; Unterhinninghofen, Ulrich

doi:10.1007/978-3-540-71364-7_29

Cited by 9 publications

(5 citation statements)

References 16 publications

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“…The interaction force between the slave robot and the environment is sent back to the master device while the position and orientation of the slave robot would be acquired via visual perception or directly observed by human eyes. Thus, the bimanual telemanipulation can be seen as such a framework where each human system interface is controlled by one human hand under teleoperation environments [9].…”

Section: Introductionmentioning

confidence: 99%

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

Zhu

Xiao

et al. 2020

Applied Sciences

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Bimanual telemanipulation is vital for facilitating robots to complete complex and dexterous tasks that involve two handheld objects under teleoperation scenarios. However, the bimanual configuration introduces higher complexity, dynamics, and uncertainty, especially in those uncontrolled and unstructured environments, which require more advanced system integration. This paper presents a bimanual robotic teleoperation architecture with modular anthropomorphic hybrid grippers for the purpose of improving the telemanipulation capability under unstructured environments. Generally, there are two teleoperated subsystems within this architecture. The first one is the Leap Motion Controller and the anthropomorphic hybrid robotic grippers. Two 3D printed anthropomorphic hybrid robotic grippers with modular joints and soft layer augmentations are designed, fabricated, and equipped for telemanipulation tasks. A Leap Motion Controller is used to track the motion of two human hands, while each hand is utilized to teleoperate one robotic gripper. The second one is the haptic devices and the robotic arms. Two haptic devices are adopted as the master devices while each of them takes responsibility for one arm control. Based on such a framework, an average RMSE (root-mean-square-error) value of 0.0204 rad is obtained in joint tracking. Nine sign-language demonstrations and twelve object grasping tasks were conducted with the robotic gripper teleoperation. A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system. Experimental results show that the proposed bimanual teleoperation system can effectively handle typical manipulation tasks, with excellent adaptabilities for a wide range of shapes, sizes, and weights, as well as grasping modes.

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Section: Introductionmentioning

confidence: 99%

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

Zhu

Xiao

et al. 2020

Applied Sciences

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“…In regards to tele-operation, Buss et al 23 presented a mobile manipulator consisting of two 7-DOF manipulator arms mounted on a mobile base controlled by a mobile haptic interface (MHI). The MHI was composed of two haptic devices mounted on a wheeled base.…”

Section: Introductionmentioning

confidence: 99%

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

Frejek

Nokleby

2012

Robotica

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An algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-offreedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.

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“…Dexterity may or may not have an upper and lower bounds. As it is not defined, it is common [1,89,148,244,245] to find works playing loose with the idea of what dexterity is, claiming that their manipulators are dexterous whilst others are not. Without a lower bound on dexterity, the goalposts can be moved arbitrarily to suit a particular study and setup.…”

Section: What Is Dexterity?mentioning

confidence: 99%

“…Telemanipulation, a more specific though sometimes interchangeable term, involves manual handling of physical objects through a teleoperation system. Traditionally, telemanipulation consists of a single or dual arm telerobot [1,2], which is controlled by one human operator, with video cameras used to view the remote environment. Use of telemanipulators in industrial settings, most commonly in the nuclear [3,4], space [5][6][7][8] and subsea [9] industries usually involves maintenance of mechanical parts and assemblies within hazardous environments which are completely inaccessible to the operator.…”

Section: Introductionmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

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This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective.It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction.In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented.Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities.A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics.Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

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Advanced Telerobotics: Dual-Handed and Mobile Remote Manipulation

Cited by 9 publications

References 16 publications

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

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

Task-based telemanipulation for maintenance in large scientific facilities

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