Semi-autonomous Teleimpedance Based on Visual Detection of Object Geometry and Material and its Relation to Environment

G. Siegemund*, A. Diaz Rosales, Arne Glodde, Franz Dietrich, L. Peternel

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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 languageEnglish
Title of host publicationProceedings of the IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024)
PublisherIEEE
Pages779-786
Number of pages8
ISBN (Electronic)979-8-3503-7357-8
DOIs
Publication statusPublished - 2024
EventIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024) - Nancy, France
Duration: 22 Nov 202424 Nov 2024

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

ConferenceIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024)
Country/TerritoryFrance
CityNancy
Period22/11/2424/11/24

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-care
Otherwise 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.

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