Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , Other literature type 01 Nov 2018 Italy Publisher:IEEEJournal:2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

Authors: Marco Laghi; Michele Maimeri; Mathieu Marchand; Clara Leparoux; Manuel G. Catalano; Arash Ajoudani; Antonio Bicchi;

doi: 10.1109/humanoids.2018.8625047 , 10.5281/zenodo.4785244 , 10.5281/zenodo.4785245

handle: 11568/999583

Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation

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Abstract

In this work we propose a framework for bimanual teleoperation that includes two control strategies: (i) the classic one-to-one coupling of the human and robotic arms (which allows to fully exploit the user dexterity) and (ii) a new shared autonomy strategy, in which the two robotic arms are controlled through the movements and gestures of just one user’s arm (relaxing the user’s cognitive load). Moreover, the use of tele-impedance allows the user to also control the remote physical interaction.

https://youtu.be/2Kmm9gOUwvc

Country

Italy

Related Organizations

University of Pisa
Italy
Italian Institute of Technology
Italy

Keywords

bimanual manipulation, Teleoperation, shared autonomy

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