Abstract
Teleoperation is a crucial technology enabling human operators to control robots remotely to perform tasks in hazardous and difficult-to-access environments. Tasks in such environments often involve complex physical interactions with tools and objects of various softness. To this end, teleimpedance enables the operators to adjust the robot impedance in real-time to simplify such interactions. While the existing teleimpedance approaches provide several interfaces to command the robot impedance, there are no interfaces to visualize both the commanded impedance and that of the objects to be interacted with. This paper presents a novel interface to provide visual feedback on the impedance of remote robots and objects. To do so, we use virtual stiffness ellipsoids and different modes that display the individual impedance of the robot and objects as well as combined post-contact impedance. The key advantage of visual feedback on the impedance compared to force feedback is that the operator can see the interaction characteristics before the contact occurs. This enables the operator to act proactively before contact rather than just reactively after the contact. This paper also proposes a new intuitive way to command the robot impedance using mixed reality, interacting with these ellipsoids and modifying them as needed. To demonstrate the key functionalities of the developed interface, we performed proof-of-concept experiments on teleoperated tasks.
Original language | English |
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Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) |
Publisher | IEEE |
Pages | 13479-13486 |
Number of pages | 8 |
ISBN (Electronic) | 979-8-3503-7770-5 |
DOIs | |
Publication status | Published - 2024 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 - Abu Dhabi, United Arab Emirates Duration: 14 Oct 2024 → 18 Oct 2024 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 |
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Country/Territory | United Arab Emirates |
City | Abu Dhabi |
Period | 14/10/24 → 18/10/24 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.