A Scalable Framework for Multi-Robot Tele-Impedance Control
| Autor: | Soheil Gholami, Arash Ajoudani, Virginia Ruiz Garate |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Interface (computing) 02 engineering and technology Robot kinematics Task (project management) Mice multi-robot control 020901 industrial engineering & automation Human–computer interaction Mobile robots Electrical and Electronic Engineering Control systems Medical application Impedance Mobile robot tele-impedance Computer Science Applications Impedance control Control and Systems Engineering Control system Task analysis Robot Robots |
| Zdroj: | IEEE Transactions on Robotics |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2021.3071530 |
| Popis: | In this article, we present an online scalable tele-impedance framework, which enables the individual and collaborative control of multiple different robotic platforms. The framework provides an intuitive low-cost interface with visual feedback and a SpaceMouse, through which the operator can define the desired task-level trajectories and impedance profiles. With a simple mouse click, the user can switch between the robots and the collaborative operation mode. The control, subsequently, manages the distribution of the required parameters into the involved robots. Thanks to the introduced virtual hand concept, where each robot is defined as a finger, new robots can be easily added or removed via their kinodynamic parameters. The proposed framework was evaluated with three different experiments: a simulated auscultation on a mock-up patient, a cooperative task where a robot drives the patient on a wheelchair and a different robot performs the auscultation, and a collaborative task where two robots relocate a container. The results demonstrate the capabilities of the framework in terms of adaptability to different robotic platforms, the number of robots involved, and the task requirements. Additionally, quantitative and subjective analysis of 12 subjects showed how the developed interface, even in the presence of inaccurate visual feedback, allowed a smooth and accurate execution of the tasks. |
| Databáze: | OpenAIRE |
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