TY - JOUR
T1 - A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant
AU - Wu, Yuqiang
AU - Balatti, Pietro
AU - Lorenzini, Marta
AU - Zhao, Fei
AU - Kim, Wansoo
AU - Ajoudani, Arash
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - Telerobotics and teleoperation
KW - mobile manipulation
KW - physical human-robot interaction
UR - https://www.scopus.com/pages/publications/85069892746
U2 - 10.1109/LRA.2019.2928757
DO - 10.1109/LRA.2019.2928757
M3 - 文章
AN - SCOPUS:85069892746
SN - 2377-3766
VL - 4
SP - 3593
EP - 3600
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 8764016
ER -