CASIA OpenIR  > 多模态人工智能系统全国重点实验室
Human-robot shared control system based on 3D point cloud and teleoperation
Yang, ChenGuang1; Zhang, Ying1; Zhao, GuanYi1; Cheng, Long2
Source PublicationSCIENCE CHINA-TECHNOLOGICAL SCIENCES
ISSN1674-7321
2023-04-24
Pages9
Corresponding AuthorYang, ChenGuang(cyang@ieee.org)
AbstractOwing 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.
Keywordteleoperation 3D point cloud human-robot shared control hybrid force motion control
DOI10.1007/s11431-022-2205-9
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational Natural Science Foundation of China (NSFC) ; Guangdong Basic and Applied Basic Research Foundation ; Industrial Key Technologies R&D Program of Foshan
WOS Research AreaEngineering ; Materials Science
WOS SubjectEngineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS IDWOS:000978233000005
PublisherSCIENCE PRESS
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/53231
Collection多模态人工智能系统全国重点实验室
Corresponding AuthorYang, ChenGuang
Affiliation1.South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yang, ChenGuang]'s Articles
[Zhang, Ying]'s Articles
[Zhao, GuanYi]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yang, ChenGuang]'s Articles
[Zhang, Ying]'s Articles
[Zhao, GuanYi]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yang, ChenGuang]'s Articles
[Zhang, Ying]'s Articles
[Zhao, GuanYi]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.