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Motion regulation solutions to holding & moving an object for single-leader-dual-follower teleoperation
journal contribution
posted on 2023-06-10, 05:40 authored by Darong Huang, Chenguang Yang, Miao Li, Haifeng Huang, Yanan LiYanan LiThis paper provides solutions for a single-leaderdual-follower (SLDF) teleoperation system to collaboratively transport an object. First, to regulate the direct-teleoperated follower robot (DFR), we employ a relative pose transformation algorithm, based on “re-fixing” the leader and DFR together, to enable that the operator can ergonomically guide DFR without requiring any specific initial position, ensuring a higher teleoperation precision at the same time. Second, to regulate the assistive follower robot (AFR), we provide an efficient technique to acquire the right orientation to achieve holding. In addition, we devise an adjustable artificial potential field method (APFM) to autonomously regulate AFR’s position to a ready-to-hold pose, where the operator’s motion is involved. At last, based on the combination of the auto-regressive model and the impedance model, we generate a reference trajectory for AFR to follow, which enables the followers to hold a rigid or deformable object with a desired contact force. Simulations and experimental results verify the feasibility and effectiveness of the proposed method.
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- Published
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- Accepted version
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IEEE Transactions on Industrial InformaticsISSN
1551-3203Publisher
IEEEExternal DOI
Department affiliated with
- Engineering and Design Publications
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© 20XX 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.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2022-12-12First Open Access (FOA) Date
2023-02-22First Compliant Deposit (FCD) Date
2022-12-12Usage metrics
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