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Multi-Phase Multi-Modal Haptic Teleoperation

Mühlbauer, Maximilian Sebastian and Steinmetz, Franz and Stulp, Freek and Hulin, Thomas and Albu-Schäffer, Alin Olimpiu (2022) Multi-Phase Multi-Modal Haptic Teleoperation. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 23-27 Oct 2022, Kyoto, Japan. doi: 10.1109/IROS47612.2022.9981525. ISBN 978-166547927-1. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/9981525


Virtual Fixtures facilitate teleoperation, for instance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections. We observed that many assembly operations can be split into different phases - approaching, positioning, in-contact manipulation - each with different accuracy requirements. Therefore, we propose to use multi-modal fixtures, satisfying the different requirements of these phases: i.e. a position-based Trajectory Fixture for approaching and a more accurate Visual Servoing Fixture for the positioning phase. A state estimation and arbitration component ensures smooth transitions between the fixtures to provide optimal support for the operator and to achieve global availability paired with local precision at the same time. It also allows a high stiffness to be used throughout, thus achieving good guidance for all phases. The approach is validated in an application from a space scenario, consisting of the assembly of a CubeSat subsystem. The empirical results from a pilot study on this task show that our approach is faster and requires less interaction force from the operator than the baseline method.

Item URL in elib:https://elib.dlr.de/189355/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-Phase Multi-Modal Haptic Teleoperation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mühlbauer, Maximilian SebastianUNSPECIFIEDhttps://orcid.org/0000-0002-7635-0248UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115912
Date:October 2022
Journal or Publication Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:teleoperation, virtual fixtures, visual servoing, cube satellites
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Kyoto, Japan
Event Type:international Conference
Event Dates:23-27 Oct 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hulin, Dr. Thomas
Deposited On:05 Dec 2022 12:19
Last Modified:11 Sep 2023 13:25

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