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In this paper, we introduce a novel method to support remote telemanipulation tasks in complex environments by providing operators with an enhanced view of the task environment. Our method features a novel viewpoint adjustment algorithm designed to automatically mitigate occlusions caused by workspace geometry, supports visual exploration to provide operators with situation awareness in the remote environment, and mediates context-specific visual challenges by making viewpoint adjustments based on sparse input from the user. Our method builds on the dynamic camera telemanipulation viewing paradigm, where a user controls a manipulation robot, and a camera-in-hand robot alongside the manipulation robot servos to provide a sufficient view of the remote environment. We discuss the real-time motion optimization formulation used to arbitrate the various objectives in our shared-control-based method, particularly highlighting how our occlusion avoidance and viewpoint adaptation approaches fit within this framework. We present results from an empirical evaluation of our proposed occlusion avoidance approach as well as a user study that compares our telemanipulation shared-control method against alternative telemanipulation approaches. We discuss the implications of our work for future shared-control research and robotics applications.
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Exploiting Task Tolerances in Mimicry-based Telemanipulation
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions; however, in teleoperation, this flexibility may make the user’s control less direct. In this work, we implemented a telema- nipulation system that allows a robot to autonomously adjust its configuration within task tolerances. We conducted a user study comparing a telemanipulation paradigm that exploits task tolerances (functional mimicry) to a paradigm that requires the robot to exactly mimic its human operator (exact mimicry), and assess how the choice in paradigm shapes user experience and task performance. Our results show that autonomous adjustments within task tolerances can lead to performance improvements without sacrificing perceived control of the robot. Additionally, we find that users perceive the robot to be more under control, predictable, fluent, and trustworthy in functional mimicry than in exact mimicry.
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- Award ID(s):
- 1830242
- PAR ID:
- 10475941
- Publisher / Repository:
- IEEE
- Date Published:
- Journal Name:
- The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Proceeding:
- https://doi.org/10.2172/1968187
