Published October 18, 2019
| Version v1
Poster
Open
Shared-Autonomy Control for Intuitive Bimanual Tele-manipulation
Description
In this work we propose a framework for bimanual teleoperation that includes two control strategies: (i) the classic one-to-one coupling of the human and robotic arms (which allows to fully exploit the user dexterity) and (ii) a new shared autonomy strategy, in which the two robotic arms are controlled through the movements and gestures of just one user’s arm (relaxing the user’s cognitive load). Moreover, the use of tele-impedance allows the user to also control the remote physical interaction.
Notes
https://youtu.be/2Kmm9gOUwvc
Files
Shared-Autonomy Control for Intuitive Bimanual Tele-manipulation.pdf
Files
(10.6 MB)
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