Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback

Brygo, Anais; Sarakoglou, Ioannis; Tsagarakis, Nikos G.; Caldwell, Darwin G.

doi:10.1109/humanoids.2014.7041465

Cited by 12 publications

(12 citation statements)

References 15 publications

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“…The first online retargeting works were for the majority related exclusively to upper body movements [15], [16], [17]. Frequently, the retargeting of the upper-body joints, which is important for manipulation, is done independently from the one of the legs, crucial for balancing and locomotion [10], [18].…”

Section: Related Workmentioning

confidence: 99%

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid

Peneo

Clément

Moduano

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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Transferring the motion from a human operator to a humanoid robot is a crucial step to enable robots to learn from and replicate human movements. The ability to retarget in realtime whole-body motions that are challenging for the humanoid balance is critical to enable human to humanoid teleoperation. In this work, we design a retargeting framework that allows the robot to replicate the motion of the human operator, acquired by a wearable motion capture suit, while maintaining the whole-body balance. We introduce some dynamic filter in the retargeting to forbid dangerous motions that can make the robot fall. We validate our approach through several experiments on the iCub robot, which has a significantly different body structure and size from the one of the human operator.

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Section: Related Workmentioning

confidence: 99%

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid

Peneo

Clément

Moduano

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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“…Two robotic arms have been integrated to the framework: the humanoid robot COMAN in the one hand, and on the other, the KUKA LWR manipulator. While the Cartesian controller of KUKA could be used straightforwardly, with COMAN a second controller layer has been implemented, as described in Brygo et al (2014), to derive through inverse kinematics the arm’s joints position trajectory from the robot’s wrist 6D position trajectory reference.…”

Section: Experimental Assessment Of the Framework Performancesmentioning

confidence: 99%

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

Brygo

Sarakoglou

Grioli

et al. 2017

Front. Bioeng. Biotechnol.

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Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

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“…By modulating these dynamic properties, humans can adapt their manipulation tactic to the task at hand. Examples are increasing limb compliance in order to carefully handle delicate objects or decreasing limb compliance to reject disturbing forces ( [1], [3], [8], [13], [14]).…”

Section: Introductionmentioning

confidence: 99%

“…The delayed reaction negatively influences the projection of the dynamic properties of the human arm on the robotic manipulator. Human dexterity is (partly) lost in a telerobotics system with communication delays and this can lead to reduced task performance and increased interaction forces between the robot and the remote environment ( [1], [3], [14]).…”

Section: Introductionmentioning

confidence: 99%

Intuitive Impedance Modulation in Haptic Control Using Electromyography

Teeffelen¹,

Dresscher²,

Dijk³

2018

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)

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Humans have multiple ways to adapt their arm dynamics to the task they have to perform. One way of doing this is through co-contraction of antagonist muscles. In telemanipulation this ability is easily lost due to time delays, quantization effects, bandwidth or hardware limitations. In this work a new concept for telemanipulation is presented. The end-point stiffness of a (simulated) telerobot is controlled via a variable impedance controller. The end effector stiffness scales with an estimate of the co-contraction around the elbow of the teleoperator. The telemanipulation concept was evaluated with ten subjects that performed two telemanipulation tasks in six different conditions. Three impedance levels: low, high, and variable, and two delay settings. The first task was on positioning accuracy, the second task on impact minimization. We have shown that low and variable impedance performed significantly better on the force task than high impedance. We have also shown that high and variable impedance performed significantly better on the position task than low impedance. This shows that the human ability to control arm stiffness can effectively be transferred to a telemanipulated robot.

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Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback

Cited by 12 publications

References 15 publications

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

Intuitive Impedance Modulation in Haptic Control Using Electromyography

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