Abstract
This paper presents a method for semiautonomous teleimpedance where the control is shared between the human operator and the robot. The human commands the position of the teleoperated robotic arm end-effector while the robot autonomously adjusts the impedance depending on the object with which the end-effector interacts. We developed a vision system that calculates the appropriate robot stiffness based on the detected object geometry and material and object’s relation to the environment. This system uses an RGB-D camera near the robot’s end-effector to capture different perspectives of the scene. To validate the proposed method, we conducted experiments on a teleoperation system where a Force Dimension Sigma7 haptic device was used to operate a KUKA LBR iiwa robotics arm. At the same time, the Intel RealSense D455 depth camera provided the visual input. We examined two practical tasks: engaging with bolts on a plate and polishing a stripe.
Original language | English |
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Title of host publication | Proceedings of the IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024) |
Publisher | IEEE |
Pages | 779-786 |
Number of pages | 8 |
ISBN (Electronic) | 979-8-3503-7357-8 |
DOIs | |
Publication status | Published - 2024 |
Event | IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024) - Nancy, France Duration: 22 Nov 2024 → 24 Nov 2024 |
Publication series
Name | IEEE-RAS International Conference on Humanoid Robots |
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ISSN (Print) | 2164-0572 |
ISSN (Electronic) | 2164-0580 |
Conference
Conference | IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024) |
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Country/Territory | France |
City | Nancy |
Period | 22/11/24 → 24/11/24 |
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.