TelePhysicalOperation: a Shared Control Architecture for Intuitive and Smart Teleoperation of Complex Mobile Manipulators

EasyChair Preprint 8957

Abstract

Recent years have shown a growing demand toward automation in the industry and other contexts. To follow this trend, the research has to face some challenges to exploit the capabilities of complex robotic systems. Heavy redundant platforms, like dual arm manipulators, mobile robots, and legged systems, can help in accomplishing always more difficult tasks, but they also need more effort to operate with them. In this scenario, we have faced the challenge of exploring new teleoperation interfaces. With the development of the \textit{TelePhysicalOperation} architecture, we want to provide: (1) an intuitive interface to permit even to a non expert user to control complex robots; and (2) more robot autonomy capabilities, to reduce the operator burden and to improve the performance of the teleoperation task.

This paper recaps our recent work done in this context, including experimental validations with the CENTAURO robot, a dual arm platform equipped with a hybrid leg-wheel mobile system.

Keyphrases: Dual-arm manipulation, Physical Human-Robot Interaction, Telerobotics and Teleoperation, industrial robots, mobile manipulation

@booklet{EasyChair:8957,
  author    = {Davide Torielli and Luca Muratore and Nikos Tsagarakis},
  title     = {TelePhysicalOperation: a Shared Control Architecture for Intuitive and Smart Teleoperation of Complex Mobile Manipulators},
  howpublished = {EasyChair Preprint 8957},
  year      = {EasyChair, 2022}}