Paper Info
Title
Maneuverability and grasping experiments in teleoperation of nonholonomic/twin-armed robots
Abstract
Three sets of human factors experiments are carried out to evaluate the effectiveness of a number of new control strategies in teleoperation of nonholonomic mobile and/or dual-arm robots. First, a single operator's performance in maneuvering a nonholonomic slave robot is assessed. Another single operator experiment in remote grasping using a dual-arm two-master/two-slave configuration is then performed. The controllers used in these single-operator experiments are then combined and re-evaluated under a dual-operator teleoperation task involving both mobile base motion and object grasping. The cooperative teleoperation control experiments employed a custom-built mobile twin-armed robotic platform with multiple camera viewpoints. The results show that the use of a 3DOF master with position mapping and reflection of the nonholonomic constraint would improve maneuverability of a nonholonomic mobile slave/base compared to approaches employing a 2DOF master interface. More specifically, the task-completion-time and unintentional contacts/collisions decrease. In the twin-armed grasping experiments, the application of the so called “soft” constraints via passive semi-autonomous control reduces task-completion-time and unwanted block drops in a block grasping/stacking task.
Year
DOI
Venue
2012
10.1109/HAPTIC.2012.6183792
Haptics Symposium
Keywords
Field
DocType
grippers,mobile robots,motion control,position control,telerobotics,cooperative teleoperation control,dual-operator teleoperation,master-slave configuration,mobile robots,nonholonomic slave robot,position mapping,remote grasping,robot maneuverability,twin-armed robot,Cooperative Teleoperation,Haptics,Human Factors,Mobile robots,Nonholonomic,Teleoperation
Teleoperation,Motion control,Computer science,Simulation,Control theory,Nonholonomic system,Robot,Grippers,Telerobotics,Mobile robot,Haptic technology
Conference
ISBN
Citations 
PageRank 
978-1-4673-0807-6
2
0.38
References 
Authors
12
2
Name
Order
Citations
PageRank
Pawel Malysz11077.83
Shahin Sirouspour222921.84