This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to retarget arbitrary commands from multiple human operators into feasible control references. The collaborative manipulation framework has three main modules: (1) contact force modulation for compliant physical interactions with objects via admittance control; (2) task-space sequential equilibrium and inverse kinematics optimization, which adapts interactive commands from multiple operators to feasible motions by satisfying the task constraints and physical limits of the robots; and (3) an interaction controller adopted from the fractal impedance control, which is robust to time delay and stable to superimpose multiple control efforts for generating desired joint torques and controlling the dual-arm robots. Extensive experiments demonstrated the capability of the collaborative bimanual framework, including (1) dual-arm teleoperation that adapts arbitrary infeasible commands that violate joint torque limits into continuous operations within safe boundaries, compared to failures without the proposed optimization; (2) robust maneuver of a stack of objects via physical interactions in presence of model inaccuracy; (3) collaborative multi-operator part assembly, and teleoperated industrial connector insertion, which validate the guaranteed stability of reliable human-robot co-manipulation.
翻译:这项工作为可靠和安全的人类机器人合作开发了协作性双体操纵,使远程和当地人类操作者能够互动工作,完成双体任务。我们建议采用最佳动作调整,将多个人类操作者的任意指令重新定位为可行的控制参考。协作操纵框架有三个主要模块:(1) 接触力量调节,通过接收控制与物体进行符合要求的物理互动;(2) 任务-空间相继平衡和反运动优化,使多个操作者的互动指令适应可行的动作,满足机器人的任务限制和物理限制;(3) 从分体阻力控制中采用的互动控制器,对延迟时间和稳定进行最佳调整,将多个操作者的任意控制器用于生成理想的联合托盘和控制双臂机器人。广泛的实验展示了协作性双体框架的能力,包括:(1) 双武器远程合作,将违反联合超力限制的任意性指令调整为在安全边界内的连续操作,而无需拟议的优化;(3) 通过物理互动在模型不精确的情况下对一组物体进行强有力的操纵,从而稳定地进行超载并稳定地超载多重操作;(3) 协作性多武器远程稳定,同时进行可靠的工业整合。