Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments

Pruks, Vitalii; Farkhatdinov, Ildar; Ryu, Jee-Hwan

doi:10.1007/978-3-319-93399-3_55

Cited by 8 publications

(7 citation statements)

References 16 publications

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“…Virtual fixtures create zones where the robot can operate and thus reduce the operators' supervision load. These zones can be obtained using point cloud data [18], shape primitives, [19], manually created [20], selected interactively [21] or generated on-line based on obstacle proximity and manipulator capabilities [22]. For the teleoperation of multiple agents, Farkhatdinov et al [23] proposed a discrete switching control algorithm where an operator can trigger a switch to control different robots or different inputs, i.e., position, velocity of the same agent.…”

Section: Related Workmentioning

confidence: 99%

Scheduling and Path-Planning for Operator Oversight of Multiple Robots

et al. 2021

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There is a need for semi-autonomous systems capable of performing both automated tasks and supervised maneuvers. When dealing with multiple robots or robots with high complexity (such as humanoids), we face the issue of effectively coordinating operators across robots. We build on our previous work to present a methodology for designing trajectories and policies for robots such that a few operators can supervise multiple robots. Specifically, we: (1) Analyze the complexity of the problem, (2) Design a procedure for generating policies allowing operators to oversee many robots, (3) Present a method for designing policies and robot trajectories to allow operators to oversee multiple robots, and (4) Include both simulation and hardware experiments demonstrating our methodologies.

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Section: Related Workmentioning

confidence: 99%

Scheduling and Path-Planning for Operator Oversight of Multiple Robots

et al. 2021

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“…In general, virtual guides have often been limited to pre-defined geometric shapes 11 or combinations of shapes, 15,16 well-defined geometric models, 13 high-level task models, 9 or shapes defined through vision-based algorithms. 17 In a comanipulation context, it is more natural to program virtual guides in the real workspace rather than in a simulated one. Therefore, PbD 15,18 appears as a promising strategy to program robots in a fast and simple way when the task is known by the user.…”

Section: Construction Of Virtual Guidesmentioning

confidence: 99%

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Restrepo¹,

Raiola²,

Guerry³

et al. 2020

Robotica

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SUMMARY In human–robot comanipulation, virtual guides are an important tool used to assist the human worker as they constrain the movement of the robot to improve the task accuracy and to avoid undesirable effects, such as collisions with the environment. Consequently, the physical effort and cognitive overload are reduced during accomplishment of comanipulative tasks. However, the construction of virtual guides often requires expert knowledge and modeling of the task, which restricts the usefulness of virtual guides to scenarios with fixed constraints. Moreover, few approaches have addressed the implementation of virtual guides enforcing orientation constraints and, when done, these approaches have treated translation and orientation separately, and consequently there is no synchronization of the translational and rotational motions. To overcome these challenges and enhance the programming flexibility of virtual guides, we present a new framework that allows the user to create 6D virtual guides through XSplines which we define as a combination of Akima splines for the translation component and spherical cubic interpolation of quaternions for the orientation component. For complex tasks, the user is able to initially define a 3D virtual guide and then use this assistance in translational motion to concentrate only on defining the orientations along the path. It is also possible for the user to modify a particular point or portion of a guide while being assisted by it. We demonstrate in an industrial scenario that these innovations provide an intuitive solution to extend the use of virtual guides to 6 degrees of freedom and increase the human worker’s comfort during the programming phase of these guides in an assisted human–robot comanipulation context.

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“…Because of their simplicity and intuitiveness, VFs are promising methods that have been shown to improve operators' teleoperation performance, reduce total workload, and ensure the safety of task execution (Rosenberg 1993;Pruks et al, 2018;Moccia et al 2019Moccia et al , 2020Marinho et al, 2020;Pruks and Ryu 2020). However, most extant research considered VFs to be pre-defined or automatically generated.…”

Section: Introductionmentioning

confidence: 99%

“…The feasibility of the feature-based interactive VF specification was investigated in our previous studies (Pruks et al, 2018; Pruks and Ryu 2020). This paper completes the authors’ preliminary framework by adding the effect rule as the final interchangeable component of the interactive VF, by introducing an effective interactive feature selection mechanism, by adding 3D-feature detectors to obtain more accurate measurements of remote objects, and by rigorously formulating the proposed method as an advanced framework.…”

Section: Introductionmentioning

confidence: 99%

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

Pruks¹,

Ryu

2022

The International Journal of Robotics Research

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A virtual fixture (VF) is a constraint built into software that assists a human operator in moving a remote tool along a preferred path via an augmented guidance force to improve teleoperation performance. However, teleoperation generally applies to unknown or dynamic environments, which are challenging for VF use. Most researchers have assumed that VFs are pre-defined or generated automatically; however, these processes are complicated and unreliable in unknown environments where teleoperation is in high demand. Recently, a few researchers have addressed this issue by introducing a user-interactive method of generating VFs in unknown environments. However, these methods are limited to generating a single type of primitive for a single robot tool. Moreover, the accuracy of the VF generated by these methods depends on the accuracy of the human input. Thus, applications of these methods are limited. To overcome those limitations, this work introduces a novel interactive VF generation method that includes a new method of representing VFs as a composition of components. A feature-based user interface allows the human operator to intuitively specify the VF components. The new VF representation accommodates a variety of robot tools and actions. Using the feature-based interface, the process of VF generation is more intuitive and accurate. In this study, the proposed method is evaluated with human subjects in three teleoperation experiments: peg-in-hole, pipe-sawing, and pipe-welding. The experimental results show that the VFs generated by the proposed approach result in a higher manipulation quality while demonstrating the lowest total workload in all experiments. The peg-in-hole task teleoperation was the safest in terms of failure proportion and exerted force of the robot tool. In the pipe-sawing task, the positioning of the robot tool was the most accurate. In the pipe-welding task, the quality of weld was the best in terms of measured tool-trajectory smoothness and visual weld observation.

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Preliminary Study on Real-Time Interactive Virtual Fixture Generation Method for Shared Teleoperation in Unstructured Environments

Cited by 8 publications

References 16 publications

Scheduling and Path-Planning for Operator Oversight of Multiple Robots

Scheduling and Path-Planning for Operator Oversight of Multiple Robots

Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation

Method for generating real-time interactive virtual fixture for shared teleoperation in unknown environments

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