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Haptic Intention Augmentation for Cooperative Teleoperation

Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi and Riecke, Cornelia and Ferre, Manuel and Albu-Schäffer, Alin (2017) Haptic Intention Augmentation for Cooperative Teleoperation. In: IEEE International Conference on Robotics and Automation ICRA. International Conference on Robotics and Automation, 29. May - 03. Jun. 2017, Singapur, Singapur.

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Abstract

Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic Intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force Feedback to each operator is enhanced by information on the Motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an Experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.

Item URL in elib:https://elib.dlr.de/112703/
Document Type:Conference or Workshop Item (Speech)
Title:Haptic Intention Augmentation for Cooperative Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, Michaelmichael.panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Riecke, Corneliacornelia.riecke (at) dlr.deUNSPECIFIED
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Date:May 2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:teleoperation, haptic augmentation, operator intention, cooperation, ISS, time delay
Event Title:International Conference on Robotics and Automation
Event Location:Singapur, Singapur
Event Type:international Conference
Event Dates:29. May - 03. Jun. 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:19 Jun 2017 11:37
Last Modified:19 Jun 2017 11:37

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