Скачать или смотреть Shared Autonomy Control for Slosh-free Teleoperation - IROS 2023

The research paper „Shared Autonomy Control for Slosh-free Teleoperation“ was presented at #IROS2023 in Detroit.

More info at 👉 https://lnkd.in/en5R7QM2
Authors: Rafael I. Cabral Muchacho, S. Bien, R. Laha, A. Naceri, Luis F.C. Figueredo, and S. Haddadin

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Abstract:
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Shared-autonomy control strategies in teleoperation combine human decision-making and robot precision to solve complex tasks. In other words, advanced autonomous control algorithms can compensate for imprecise human commands, reduce the mental workload of the user, and even enable the execution of tasks that otherwise wouldn’t be feasible. This paper addresses one of these previously impossible scenarios. Herein, we present a novel control framework and motion generation that allows for real-time non-prehensile slosh-free teleoperation of liquids. The proposed approach is able to generate robust trajectories on the follower side which ensures task-space, joint-space, and manipulability constraint satisfaction. Our findings were evaluated through user studies and real-world scenarios. Participants were even explicitly challenged to try to spill liquid through teleoperation, reaching speeds up to 0.6 m/s.