Haptic intention augmentation for cooperative teleoperation

Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi and Riecke, Cornelia and Ferre Pérez, Manuel and Albu-Schaeffer, Alin (2017). Haptic intention augmentation for cooperative teleoperation. In: "2017 IEEE International Conference on Robotics and Automation (ICRA)", 29 May-3 June 2017, Singapore. ISBN 978-1-5090-4633-1. pp. 5335-5341. https://doi.org/10.1109/ICRA.2017.7989627.

Description

Title: Haptic intention augmentation for cooperative teleoperation
Author/s:
  • Panzirsch, Michael
  • Balachandran, Ribin
  • Artigas, Jordi
  • Riecke, Cornelia
  • Ferre Pérez, Manuel
  • Albu-Schaeffer, Alin
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2017 IEEE International Conference on Robotics and Automation (ICRA)
Event Dates: 29 May-3 June 2017
Event Location: Singapore
Title of Book: 2017 IEEE International Conference on Robotics and Automation (ICRA)
Date: 2017
ISBN: 978-1-5090-4633-1
Subjects:
Freetext Keywords: teleoperation; haptic augmentation; operator intention; cooperation; ISS; time delay
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force feedback to each operator is enhanced by information on the motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.

More information

Item ID: 51086
DC Identifier: http://oa.upm.es/51086/
OAI Identifier: oai:oa.upm.es:51086
DOI: 10.1109/ICRA.2017.7989627
Official URL: https://ieeexplore.ieee.org/document/7989627/
Deposited by: Memoria Investigacion
Deposited on: 06 Aug 2018 17:58
Last Modified: 06 Aug 2018 17:58
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