Abstract
Mobile manipulation robots can be deployed to handle various hazardous tasks such as fire fighting, disaster relief, and bomb disposal. Currently, the high-level control of mobile manipulation systems mostly relies on human teleoperation. This paper designs a novel dual-arm mobile manipulation robot and proposes a safety-oriented teleoperation strategy for it. Unlike traditional dual-arm setup which mimics humans, a functional complementary design is adopted by using a longer arm and a shorter arm. The longer arm can achieve a 360° wide-range manipulation around the base, while the shorter arm is aimed at more dexterous manipulation in the front of the base. Then a teleoperation system is designed based on the V-REP software. Three aspects are taken into account to guarantee safety during operation, including the workspace protection based on virtual walls, the self-collision protection based on minimal distance calculation, and the configuration-switch protection based on open motion planning library (OMPL). The effectiveness of the proposed method is verified through simulations and experiments.
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Acknowledgements
This work was supported by Shenzhen Science Fund for Distinguished Young Scholars (RCJC20210706091946001), Guangdong Special Branch Plan for Young Talent with Scientific and Technological Innovation (2019TQ05Z111), and National Natural Science Foundation of China (62003188, U1813216).
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Guo, J., Ye, L., Liu, H., Wang, X., Liang, L., Liang, B. (2022). Safety-Oriented Teleoperation of a Dual-Arm Mobile Manipulation Robot. 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_70
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DOI: https://doi.org/10.1007/978-3-031-13841-6_70
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