Human-robot shared control system based on 3D point cloud and teleoperation

doi:10.1007/s11431-022-2205-9

	Human-robot shared control system based on 3D point cloud and teleoperation
	Yang, ChenGuang 1; Zhang, Ying 1; Zhao, GuanYi 1; Cheng, Long2
发表期刊	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
ISSN	1674-7321
	2023-04-24
页码	9
通讯作者	Yang, ChenGuang(cyang@ieee.org)
摘要	Owing to the constraints of unstructured environments, it is difficult to ensure safe, accurate, and smooth completion of tasks using autonomous robots. Moreover, for small-batch and customized tasks, autonomous operation requires path planning for each task, thus reducing efficiency. We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks. The system leverages the operator's skills and experience to deal with emergencies and perform online error correction. In this framework, a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation. The operator controls the manipulator trajectory through a teleoperation device. The force exerted by the manipulator on the object is automatically adjusted by the robot, thus reducing the workload for the operator and improving the efficiency of task execution. In addition, hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other. The proposed framework was validated using the ELITE robot to perform a force control scanning task.
关键词	teleoperation 3D point cloud human-robot shared control hybrid force motion control
DOI	10.1007/s11431-022-2205-9
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China (NSFC)[U20A20200] ; Guangdong Basic and Applied Basic Research Foundation[92148204] ; Industrial Key Technologies R&D Program of Foshan[2019B1515120076] ; Industrial Key Technologies R&D Program of Foshan[2020B1515120054] ; [2020001006308] ; [2020001006496]
项目资助者	National Natural Science Foundation of China (NSFC) ; Guangdong Basic and Applied Basic Research Foundation ; Industrial Key Technologies R&D Program of Foshan
WOS研究方向	Engineering ; Materials Science
WOS类目	Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS记录号	WOS:000978233000005
出版者	SCIENCE PRESS
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53231
专题	多模态人工智能系统全国重点实验室
通讯作者	Yang, ChenGuang
作者单位	1.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yang, ChenGuang,Zhang, Ying,Zhao, GuanYi,et al. Human-robot shared control system based on 3D point cloud and teleoperation[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2023:9.
APA	Yang, ChenGuang,Zhang, Ying,Zhao, GuanYi,&Cheng, Long.(2023).Human-robot shared control system based on 3D point cloud and teleoperation.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,9.
MLA	Yang, ChenGuang,et al."Human-robot shared control system based on 3D point cloud and teleoperation".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2023):9.