Recent Enhancements to Mobile Bimanual Robotic Teleoperation with Insight Toward Improving Operator Control

584 INTRODUCTION Teleoperation refers to the direct human control of a machine from a distance. It is commonly associated with systems wherein the machine is represented by robotic mechanisms or mobile robots. Such systems are increasingly used on unmanned vehicles to enable a range of applications across a variety of domains including military, first responder, law enforcement, construction, hazardous material handling, and exploration of deep ocean, space, and planetary surface environments. The ability to affect environments through manipulation of robotic arms and attached end-effectors (hands and tools) lets human operators project their intent and capability from safe locations, facilitated by sensor feedback from a teleoperated system at a remote location, n a number of environments and scenarios where it is dangerous, impractical, or impossible to send humans, robotic teleoperation is used. It enables human-teleoperated robotic systems to move around in and manipulate such environments from a distance, effectively projecting human capabilities into those environments to perform complex tasks. Bimanual robots are equipped with two arms/hands and have the capacity to perform many tasks, particularly when integrated with mobile platforms. This article provides an overview of two mobile bimanual robotic system prototypes designed to be teleoperated by human operators to perform unmanned ground vehicle missions. It highlights limitations in robot sensing and control that were observed during the course of conducting research on improving the effectiveness of human operator control. System enhancements are discussed that are aimed at achieving this goal through robot sensor augmentation, increased operator situational awareness, and a robot control approach for facilitating human operator control. These enhancements are expected to improve human–robot capabilities for future unmanned vehicle applications. Recent Enhancements to Mobile Bimanual Robotic Teleoperation with Insight Toward Improving Operator Control

[1]  Eckehard G. Steinbach,et al.  Disposal of explosive ordnances by use of a bimanual haptic telepresence system , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  Matthew S. Johannes,et al.  Advanced Explosive Ordnance Disposal Robotic System ( AEODRS ) : A Common Architecture Revolution , 2011 .

[3]  E. Torres-Jara,et al.  Challenges for Robot Manipulation in Human Environments , 2006 .

[4]  Antti J. Koivo,et al.  Control of redundant manipulators with constraints using a reduced order model , 1994, Autom..

[5]  K. Yokoi,et al.  Operating Humanoid Robots in Human Environments , 2006 .

[6]  Joshua Mehling,et al.  Centaur: NASA's Mobile Humanoid Designed for Field Work , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Robert S. Armiger,et al.  Development of a multi-modal haptic feedback system for dexterous robotic telemanipulation , 2011, 2011 IEEE International Conference on Systems, Man, and Cybernetics.

[8]  Aude Billard,et al.  A Model of Acquisition of Discrete Bimanual Coordination Skills for a Humanoid Robot , 2007 .

[9]  P. Bélanger,et al.  Intelligent built-in torque sensor for harmonic drive systems , 1997, IEEE Instrumentation and Measurement Technology Conference Sensing, Processing, Networking. IMTC Proceedings.

[10]  Vincenzo Lippiello,et al.  Kinematic control with force feedback for a redundant bimanual manipulation system , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Haldun Komsuoglu,et al.  Agile and dexterous robot for inspection and EOD operations , 2010, Defense + Commercial Sensing.

[12]  Stuart D. Harshbarger,et al.  An Overview of the Developmental Process for the Modular Prosthetic Limb , 2011 .

[13]  Katherine J. Kuchenbecker,et al.  Induced Master Motion in Force-Reflecting Teleoperation , 2006 .

[14]  Danica Kragic,et al.  Dual arm manipulation - A survey , 2012, Robotics Auton. Syst..

[15]  Jose Gerardo Rocha and Senentxu Lanceros-Mendez.  Sensors: Focus on Tactile Force and Stress Sensors , 2008 .

[16]  Katherine J. Kuchenbecker,et al.  Improving telerobotic touch via high-frequency acceleration matching , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[17]  Neil Tardella,et al.  A Generic Framework for Controlling Bi-Handed Robotic Manipulator , 2007 .

[18]  Matthew S. Johannes,et al.  IMPLEMENTING A COMMON ARCHITECTURE FOR EOD ROBOTIC SYSTEMS , 2011 .

[19]  Robert S. Armiger,et al.  Human Capabilities Projection : Dexterous Robotic Telemanipulation with Haptic Feedback , 2013 .