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 direct mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals. In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.
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。 我们提出了一个双人远程操作系统,由人体形态机器人和操作者站组成,为人类操作者提供力量和顺畅的反馈。 人工武器在Cartesian空间受控制,直接绘制操作者运动图。 测量到的阿瓦塔尔一侧的力量和托克斯被巧妙地展示给操作者。 我们开发了一个在操作者一侧运行的避免极限的预测动电模型,确保低静态。 该系统在ANA Avatar XPRIZE 竞赛半决赛期间得到了成功评价。 此外,我们进行了实验室实验,并与大多数未受过训练的操作者进行了小型用户研究。