A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Wu, Yuqiang | - |
dc.contributor.author | Balatti, Pietro | - |
dc.contributor.author | Lorenzini, Marta | - |
dc.contributor.author | Zhao, Fei | - |
dc.contributor.author | Kim, Wansoo | - |
dc.contributor.author | Ajoudani, Arash | - |
dc.date.accessioned | 2022-04-01T09:15:55Z | - |
dc.date.available | 2022-04-01T09:15:55Z | - |
dc.date.created | 2021-07-29 | - |
dc.date.issued | 2019-10 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/107400 | - |
dc.description.abstract | This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/IIT SoftHand, and a mobile platform driven by four omni-directional wheels. A whole-body impedance controller is consequently developed to ensure accurate tracking of the impedance and position trajectories at MOCA end-effector by considering the causal interactions in such a dynamic system. The proposed teleoperation interface provides the user with two control modes: locomotion and manipulation. The locomotion mode receives inputs from a personalized human center-of-pressure model, which enables real-time navigation of the MOCA mobile base in the environment. The manipulation mode receives inputs from a tele-impedance interface, which tracks human arm endpoint stiffness and trajectory profiles in real time and replicates them using the MOCA's whole-body impedance controller. To evaluate the performance of the proposed teleoperation interface in the execution of remote tasks with dynamic uncertainties, a sequence of challenging actions, i.e., navigation, door opening, and wall drilling, has been considered in the experimental setup. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | - |
dc.title | A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Wansoo | - |
dc.identifier.doi | 10.1109/lra.2019.2928757 | - |
dc.identifier.scopusid | 2-s2.0-85069892746 | - |
dc.identifier.wosid | 000477983400024 | - |
dc.identifier.bibliographicCitation | IEEE Robotics and Automation Letters, v.4, no.4, pp.3593 - 3600 | - |
dc.relation.isPartOf | IEEE Robotics and Automation Letters | - |
dc.citation.title | IEEE Robotics and Automation Letters | - |
dc.citation.volume | 4 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 3593 | - |
dc.citation.endPage | 3600 | - |
dc.type.rims | ART | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | IMPEDANCE CONTROL | - |
dc.subject.keywordAuthor | mobile manipulation | - |
dc.subject.keywordAuthor | physical human-robot interaction | - |
dc.subject.keywordAuthor | Telerobotics and teleoperation | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/8764016?arnumber=8764016&SID=EBSCO:edseee | - |
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