Development of shared autonomy and virtual guidance generation system for human interactive teleoperation

Lee, Kwang-Hyun; Pruks, Vitalii; Ryu, Jee-Hwan

doi:10.1109/urai.2017.7992775

Cited by 6 publications

(1 citation statement)

References 14 publications

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“…It is because underwater tasks demand high reliability and the autonomy may involve risks of malfunction [19]. There have been research works to improve the efficiency of the tele-operation by assisting with guidance techniques or perceptional improvements: augmented realities [20,21] or virtual realities [22] to improve the visual feedback or to guide the manipulation with virtual information, virtual guidance techniques to avoid collision with the environment [23], real-time collision detection algorithms to improve the human perception in the underwater environments having poor visibilities [24], and shared tele-operation techniques using model based learning [25,26].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks

Cho

Lee

et al. 2021

JMSE

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In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the position estimation technique utilizing the touch inputs is investigated. The assistance technique is simple but significantly helpful to increase temporal efficiency of tele-manipulation for underwater tasks. Using URI-T, a cable burying ROV (Remotely Operated Vehicle) developed in Korea, the performance of the proposed assistance technique is verified. The underwater cable gripping task, one of the cable maintenance tasks carried out by the cable burying ROV, is employed for the performance evaluation, and the experimental results are analyzed statistically. The results show that the assistance technique can improve the efficiency of the tele-manipulation considerably in comparison with the conventional tele-operation method.

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