Systems and Algorithms for Collaborative Teleoperation

This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type manipulators in open environments, particularly quadruped However, manipulators, especially are relatively novel systems to be implemented industry compared traditional machinery. Consequently, no method has been establishe...

This paper presents design aspects of a forcere ecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists | a macro-master and a micro-slave | would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a d...

In this paper we present ongoing work on how to incorporate human motion models into the design of a high performance teleoperation platform. A short description of human motion models used for ball-catching is followed by a more detailed study of a teleoperation platform on which to conduct experiments. Also, a pilot study using minimum jerk theory to explain user input behavior in teleoperate...

We are working to make vehicle teleoperation accessible to all users, novices and experts alike. In our research, we are developing a new control model for teleoperation, sensor-fusion displays and a suite of remote driving tools. Our goal is to build a framework which enables humans and robots to communicate, to exchange ideas and to resolve differences. In short, to develop systems in which h...

Abstract: Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulti...

We describe a method for bridging internet time delays in a teleoperation scenario where the the time delays are large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the communication delay. We present results from a teleoperated ball catching experiment, where we show that ...

This paper discusses the teleoperation of a humanoid robot. We focus on the tasks of manipulating an object where the robot keepsbalance by utilizing the contact between the hand and the environment. To realize this teleoperation task easily, we consider several automous functions such as balance keeping, avoidance of joint angle limit, and visual recognition. Some functions are implimented by ...

Teleoperation is frequently performed with misalignments between operator or camera viewing direction and controller orientation. Examples of this occur in endoscopic surgery and in teleoperation with multiple camera views. The objective of this study was to find a method to automatically compensate for those misalignments so that human operators performing tasks under such scenarios could achi...

Many tasks done easily by humans turn out to be very difficult to accomplish with a teleoperated robot. The main reason for this is the lack of tactile sensing, which cannot be replaced by visual feedback alone. Once haptic devices were developed, their potential in many fields was obvious. Especially in teleoperation systems, where haptic feedback can increase the efficiency and even render so...