Haptic-guided Grasping to Minimise Torque Effort during Robotic Telemanipulation

Ghalamzan Esfahani, Amir Masoud (2023) Haptic-guided Grasping to Minimise Torque Effort during Robotic Telemanipulation. Autonomous Robots, 47 (4). ISSN 0929-5593

Full content URL: https://doi.org/10.1007/s10514-023-10096-7

Documents
Haptic-guided Grasping to Minimise Torque Effort during Robotic Telemanipulation
Author's accepted manuscript

Request a copy
[img] PDF
AURO-D-21-00135_R2_removed.pdf - Whole Document
Restricted to Repository staff only

29MB
Item Type:Article
Item Status:Live Archive

Abstract

Teleoperating robotic manipulators can be complicated and cognitively demanding for the human operator. Despite these difficulties, teleoperated robotic systems are still popular in several industrial applications, e.g., remote handling of hazardous material. In this context, we present a novel haptic shared control method for minimising the manipulator torque effort during remote manipulative actions in which an operator is assisted in selecting a suitable grasping pose for then displacing an object along a desired trajectory. Minimising torque is important because it reduces the system operating cost and extends the range of objects that can be manipulated. We demonstrate the effectiveness of the proposed approach in a series of representative real-world pick-and-place experiments as well as in human subjects studies. The reported results prove the effectiveness of our shared control vs. a standard teleoperation approach. We also find that haptic-only guidance performs better than visually guidance, although combining them together leads to the best overall results.

Keywords:Robotics, human-robot interaction
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:53715
Deposited On:05 May 2023 14:14

Repository Staff Only: item control page