Parsa, S, Kamale, D, Mghames, S et al. (6 more authors) (2020) Haptic-Guided Shared Control Grasping for Collision-Free Manipulation. In: 2020 IEEE 16th International Conference on Automation Science and Engineering (to be verified). 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 20-21 Aug 2020, Virtual. IEEE ISBN 978-1-7281-6905-7
Abstract
We propose a haptic-guided shared control system that provides an operator with force cues during reach-to-grasp phase of tele-manipulation. The force cues inform the operator of grasping configuration which allows collision-free autonomous post-grasp movements. Previous studies showed haptic guided shared control significantly reduces the complexities of the teleoperation. We propose two architectures of shared control in which the operator is informed about (1) the local gradient of the collision cost, and (2) the grasping configuration suitable for collision-free movements of an aimed pick-and-place task. We demonstrate the efficiency of our proposed shared control systems by a series of experiments with Franka Emika robot. Our experimental results illustrate our shared control systems successfully inform the operator of predicted collisions between the robot and an obstacle in the robot's workspace. We learned that informing the operator of the global information about the grasping configuration associated with minimum collision cost of post-grasp movements results in a reach-to-grasp time much shorter than the case in which the operator is informed about the local-gradient information of the collision cost.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) > ITS: Safety and Technology (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 29 Jun 2020 11:29 |
Last Modified: | 10 Dec 2020 00:54 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/CASE48305.2020.9216789 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162458 |