Abstract
In order to organically combine single leader dual follower teleoperation with force information during human-robot interaction (HRI), this paper proposes a single leader dual follower teleoperation system based on force control, which is applied to the common box flipping task in the logistics industry. The relative pose increment method is adopted to realize the leader-follower attitude matching, which is more flexible and reliable than the traditional method, and makes the operator perform the teleoperation task comfortably. Under the background that there is no information sharing between follower arms, a force controller is designed to generate a reference trajectory for the assisting follower robot (AFR) based on the contact force. The AFR can actively move to the desired position corresponding to the required contact force in the process of flipping the box, so as to realize the coordination during HRI.
This work was supported in part by Foshan Science and Technology Innovation Team Special Project under Grant 2018IT100322, in part by Industrial Key Technologies R & D Program of Foshan under Grant 2020001006496 and Grant 2020001006308, and in part by the National Nature Science Foundation under Grant 62003096.
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Huang, H., Gan, J., Zeng, C., Yang, C. (2022). Motion Regulation for Single-Leader-Dual-Follower Teleoperation in Flipping Manipulation. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13458. Springer, Cham. https://doi.org/10.1007/978-3-031-13841-6_44
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