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首页> 外文期刊>Haptics, IEEE Transactions on >Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
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Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks

机译：表面调理任务中双臂机器人遥操作的触觉和视觉反馈辅助

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摘要

Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedback to enhance the operator immersion in surface treatment tasks. Two task-based assistance systems are also proposed to control each robotic manipulator individually. To validate the remote assisted control, some usability tests have been carried out using Baxter, a dual-arm collaborative robot. After analysing several benchmark metrics, the results show that the proposed assistance method helps to reduce the task duration and improves the overall performance of the teleoperation.
机译：接触驱动的任务，例如表面调理操作（擦拭，抛光，打磨等），难以预先通过机器人系统自主地进行编程，特别是当所涉及的物体正在移动时。在许多应用中，人体机器人物理互动可以用于教学，特别是在演示框架中学习，但这种解决方案并不总是可用的。当用户和机器人由于危险环境，无法访问的位置或因符合人体工程学问题而与之共享相同的工作空间时，机器人遥操作非常有用。从这个意义上讲，本文介绍了一种具有触觉和视觉反馈的新型双臂遥操作架构，以增强表面处理任务中的操作员浸泡。还提出了两个基于任务的辅助系统来单独控制每个机器人操纵器。为了验证远程辅助控制，已经使用Baxter，双臂协同机器人进行了一些可用性测试。在分析几个基准度量之后，结果表明，所提出的辅助方法有助于降低任务持续时间并提高遥操作的整体性能。

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