Whole-Body Multi-Modal Semi-Autonomous Teleoperation of Mobile Manipulator Systems

被引：0
|
作者：
Ha, ChangSu [1 ,2 ]
Park, Sangyul [1 ,2 ]
Her, Jongbeom [1 ,2 ]
Jang, Inyoung [1 ,2 ]
Lee, Yongseok [1 ,2 ]
Cho, Gun Rae [3 ]
Son, Hyoung Il [4 ]
Lee, Dongjun [1 ,2 ]
机构：
[1] Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea
[2] Seoul Natl Univ, IAMD, Seoul, South Korea
[3] Samsung Heavy Ind CO LTD, Mech Ctr, Daejeon 305380, South Korea
[4] Chonnam Natl Univ, Dept Rural & Biosyst Engn, Gwangju 500757, South Korea
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年
关键词：
BILATERAL TELEOPERATION; MOTION CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a novel whole-body multi-modal semi-autonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile manipulator to optimally track the operator's whole-body command, while taking into account the user-slave kinematic dissimilarity (slave robot's joint limit, joint velocity limit, and singularity); and 3) Visuo-haptic-vestibular feedback with HMD (Head Mounted Display) for 3D visual information, wearable cutaneous haptic device for manipulation force feedback, and actuated chair for vestibular feedback to reduce HMD-induced motion sickness. Performance of the proposed framework is validated with simulation of a ROV (remotely operated vehicle) manipulator system and some preliminary user studies.
引用
收藏
页码：164 / 170
页数：7
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