Telemanipulation via Internet based on human-robot cooperation

A command fusion based Human-Robot cooperation strategy in telerobotic systems is presented. The robotic task execution is segmented into four stages, namely free motion, contact motion, constraint motion and dexterous operation. At each stage, human and robot can send out respective commands based on their own evaluation of the task execution. A uniform formulation is proposed to describe the fusion process. These commands can be fused to produce a proper resultant output to the low level controller supported by the robot intelligence, which consists of model-based and sensor-based autonomous capabilities. The cooperation can ensure the collision and singularity free motion, the stable and safe contact with the environment, the shared control-based constraint motion and semi-autonomy based dexterous operation. The design of our telerobotic system is described and a telemanipulation experiment via Internet is introduced.