This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/IIT SoftHand, and a mobile platform driven by four omni-directional wheels. A whole-body impedance controller is consequently developed to ensure accurate tracking of the impedance and position trajectories at MOCA end-effector by considering the causal interactions in such a dynamic system. The proposed teleoperation interface provides the user with two control modes: locomotion and manipulation. The locomotion mode receives inputs from a personalized human center-of-pressure model, which enables real-time navigation of the MOCA mobile base in the environment. The manipulation mode receives inputs from a tele-impedance interface, which tracks human arm endpoint stiffness and trajectory profiles in real time and replicates them using the MOCA's whole-body impedance controller. To evaluate the performance of the proposed teleoperation interface in the execution of remote tasks with dynamic uncertainties, a sequence of challenging actions, i.e., navigation, door opening, and wall drilling, has been considered in the experimental setup.


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    Titel :

    A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant


    Beteiligte:
    Wu Y. (Autor:in) / Balatti P. (Autor:in) / Lorenzini M. (Autor:in) / Zhao F. (Autor:in) / Kim W. (Autor:in) / Ajoudani A. (Autor:in) / Wu, Y. / Balatti, P. / Lorenzini, M. / Zhao, F.

    Erscheinungsdatum :

    01.01.2019



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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