Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a 1:1 mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed directly to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. Only off-the-shelf components were used to build the system. It is evaluated in lab experiments and by untrained operators in a small user study.
翻译:机器人远程操作是各种应用的关键技术。 它允许将机器人而不是人类送至偏远、可能危险的地方,同时仍然使用拥有巨大知识和创造力的人类大脑,特别是用于解决意外问题。 远程操作的主要挑战包括向人类操作者提供足够的反馈,以便了解情况,从而产生完全的浸入,以及向操作者提供适当的控制界面,以实现高效和稳健的任务完成。 我们提供了一个由人体形态变异机器人和操作者提供力量和顺畅反馈的操作站组成的双人远程操纵系统。 人工武器在Cartesian空间被控制,对操作者运动进行了1:1的绘图。 测量的阿凡达一侧的力量和托克斯直接向操作者展示。 我们开发了一个在操作者一侧运行的、可避免极限的预测动电容器模型,确保低静态。 我们只使用现成部件来建立系统。 它通过实验室实验和小用户研究中未经过训练的操作者对它进行了评估。