A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on tray. Differently from many existing studies about remotely operated robots with firm grasping capabilities, we consider the case in which, principle, can break its contact end-effector. The proposed approach automatically regulates remote motion commanded by user and end-effector orientation to prevent sliding over Furthermore, human operator is provided haptic cues informing discrepancy between executed motion, which assist throughout task execution. We carried out trajectory tracking experiments employing autonomous 7-degree-of-freedom (DoF) manipulator compared results obtained using two different control schemes (i.e., constant tray no adjustment). also human-subjects study involving 18 participants 3-DoF device was used teleoperate linear display operator. In all experiments, clearly show that our outperforms other solutions terms of prevention, robustness, commands tracking, user’s preference.