Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation

Vozar, Steve; Chen, Zihan; Kazanzides, Peter; Whitcomb, Louis L.

doi:10.1109/iros.2015.7353978

Cited by 13 publications

(14 citation statements)

References 23 publications

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“…Moreover, the error metric shows significant differences among all pairs, ranking C first (lowest error), followed by U and T (highest error). This latter result is partially in contrast with that of Vozar et al [22], where imposing a virtual nonholonomic constraint on the endeffector motion did not significantly reduce the error in cutting a target path. However, Vozar et al [22] did not use haptic feedback to inform the users about the constraints and carried out their experiment under a 4s delay.…”

Section: Discussioncontrasting

confidence: 90%

“…A semiautonomous architecture helped the operator in keeping the blade normal to the blanket. Vozar et al [22] addressed a similar problem by designing four shared-control approaches.…”

Section: Introductionmentioning

confidence: 99%

“…While the approaches of [22] and [21] are promising, they mainly focus on treating the time delay in the system rather than the cutting task itself. In fact, they all consider rather simple cutting tasks (straight lines).…”

Section: Introductionmentioning

confidence: 99%

“…The constraints at the master's side are imposed only using information from the master's position, limiting any unstable behavior due to communication delays between master and slave. We believe that this feedback is essential for the operator and can turn around the results of [22]. To evaluate our techniques, we carried out a human subject study with 12 users in a real cutting scenario.…”

Section: Introductionmentioning

confidence: 99%

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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: Discussioncontrasting

confidence: 90%

“…A semiautonomous architecture helped the operator in keeping the blade normal to the blanket. Vozar et al [22] addressed a similar problem by designing four shared-control approaches.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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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“…Hybrid position/force control [2] is used to keep the cutting tool in contact with the surface while the user teleoperates along the tangent plane to perform the cutting task [3], [4], [5]. Specifically, force control is applied along z c while the user teleoperates in position/velocity control along x c and y c , possibly constrained by virtual fixtures (e.g., to limit motion along y c [6]). Typically, the orientation degrees of freedom are position controlled, with the two outof-plane degrees of freedom (i.e., rotations about x c and y c ) fixed to maintain a desired orientation of the tool with respect to the plane normal.…”

Section: Introductionmentioning

confidence: 99%

Task frame estimation during model-based teleoperation for satellite servicing

Kazanzides

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Model-based teleoperation is suitable for systems with large communication delay because the operator interacts with a model of the task while the remote robot uses sensorbased control to replicate that interaction on the physical system. When the model geometry is accurately known, it is only necessary to register it to the remote physical system. If registration errors can be detected during the task, it is possible to update the local task frame (as in model mediated teleoperation) or the remote task frame. This paper proposes the latter approach for the case of telerobotic satellite servicing where the remote (on-orbit) robot cuts the tape that secures the patch of insulation covering the satellite access panel. This task can be modeled as sliding a tool along a planar surface (or one that is locally planar). The remote task frame is used by a hybrid position/force controller to maintain contact with the planar surface. Registration errors, however, can affect the orientation of the cutting tool and cause cutting failures. Therefore, the registration is updated during the task by using position measurements under the effect of hybrid control. The contributions of this paper are in the application of this method to teleoperation, where it must handle user-specified motions, and in the experimental verification during cutting, where compliance of the environment must be estimated and taken into account.

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