Humanoid Teleoperation Using Task-Relevant Haptic Feedback

Abi-Farrajl, Firas; Henze, Bernd; Werner, A.; Panzirsch, Michael; Ott, Christian; Roa, Meximo A

doi:10.1109/iros.2018.8593521

Cited by 34 publications

(23 citation statements)

References 24 publications

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“…Robotic cutting is particularly interesting for shared control, as it requires high dexterity and can have serious implications if it fails. It is in fact employed in various sensitive applications which range from surgical cutting [10] to nuclear decommissioning [11] and disaster response [12], [13]. Moreover, cutting applications feature a variety of constraints which can have a high impact on the task.…”

Section: Introductionmentioning

confidence: 99%

Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic Constraints

Rahal

Abi-Farraj²,

Giordano³

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robot-assisted cutting is considered an important task in several fields, such as robotic surgery, nuclear decommissioning, waste management, and manufacturing. Despite the complex dexterity requirements of cutting tasks, very simple mechanically-linked master-slave manipulators still dominate many of the above fields (e.g., nuclear robotics). Moreover, even when more dexterous manipulators are available (e.g., in robot-assisted surgery), the employed systems show little or no autonomy, delegating all control to the experience of the human operator. To ameliorate this situation, we present two haptic shared-control approaches for robotic cutting. They are designed to assist the human operator by enforcing different nonholonomic-like constraints representative of the cutting kinematics. To validate our approach, we carried out a humansubject experiment in a real cutting scenario. We compared our shared-control techniques with each other and with a standard haptic teleoperation scheme. Results show the usefulness of assisted control schemes in complex applications such as cutting. However, they also show a discrepancy between objective and subjective metrics.

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Section: Introductionmentioning

confidence: 99%

Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic Constraints

Rahal

Abi-Farraj²,

Giordano³

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Demonstration of the performance and versatility of the whole-body control framework in various applications including planning [Werner et al, 2016, Sundaram et al, 2018, teleoperation [Porges et al, 2019, Abi-Farraj et al, 2018, and industrial manufacturing [Kheddar et al, 2019].…”

Section: State Of the Art And Contributionsmentioning

confidence: 99%

“…Chapter 9 [Werner et al, 2016] [ Sundaram et al, 2018] [ [ Porges et al, 2019] [Abi-Farraj et al, 2018 [ Kheddar et al, 2019] Whole-Body Control Generalization Demonstration Round and square brackets are used to combine symbols into vectors and matrices, respectively. For instance, a vector is given by f = ( fx fy fz ) T and a matrix by J = [ Ad J ].…”

Section: • Aircraft Manufacturingmentioning

confidence: 99%

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Henze

2022

Springer Tracts in Advanced Robotics

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“…manipulative actions [21] or non-holonomic cutting constraints [22]. Alternatively, several researchers focused on conveying haptic cues to improve task operability when dealing with slave systems with complex morphologies [23], when controlling multiple slaves [24] or for multi-master-single-slave teleoperation [25] systems.…”

Section: Related Workmentioning

confidence: 99%

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master

Singh

Srinivasan

Neumann

et al. 2020

IEEE Trans. Haptics

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In this study, we describe two techniques to enable hapticguided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torquecontrolled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this study, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side.

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Humanoid Teleoperation Using Task-Relevant Haptic Feedback

Cited by 34 publications

References 24 publications

Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic Constraints

Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic Constraints

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master

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