A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant
- Authors
- Wu, Yuqiang; Balatti, Pietro; Lorenzini, Marta; Zhao, Fei; Kim, Wansoo; Ajoudani, Arash
- Issue Date
- Oct-2019
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Keywords
- mobile manipulation; physical human-robot interaction; Telerobotics and teleoperation
- Citation
- IEEE Robotics and Automation Letters, v.4, no.4, pp.3593 - 3600
- Indexed
- SCOPUS
- Journal Title
- IEEE Robotics and Automation Letters
- Volume
- 4
- Number
- 4
- Start Page
- 3593
- End Page
- 3600
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/107400
- DOI
- 10.1109/lra.2019.2928757
- ISSN
- 2377-3766
- 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.
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