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A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abi-Farraj, Firas ; Pacchierotti, Claudio ; Arenz, Oleg ; Neumann, Gerhard ; Robuffo Giordano, Paolo (2022)
A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping.
In: IEEE Transactions on Haptics, 2019, 13 (2)
doi: 10.26083/tuprints-00022928
Article, Secondary publication, Postprint

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Item Type: Article
Type of entry: Secondary publication
Title: A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping
Language: English
Date: 2022
Place of Publication: Darmstadt
Year of primary publication: 2019
Publisher: IEEE
Journal or Publication Title: IEEE Transactions on Haptics
Volume of the journal: 13
Issue Number: 2
Collation: 17 Seiten
DOI: 10.26083/tuprints-00022928
Corresponding Links:
Origin: Secondary publication service

Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically linked master-slave manipulators still dominate the field. Nonetheless, there is a pressing need for more effective robotic solutions able to significantly speed up the decommissioning of legacy radioactive waste. This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment. A three-dimensional scan of the scene is used to generate a set of potential grasp candidates on the objects at hand. These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects. The haptic feedback is designed to be smooth and continuous as the user switches from a grasp candidate to the next one, or from one object to another one, avoiding any discontinuity or abrupt changes. To validate our approach, we carried out two human-subject studies, enrolling 15 participants. We registered an average improvement of 20.8%, 20.1%, and 32.5% in terms of completion time, linear trajectory, and perceived effectiveness, respectively, between the proposed approach and standard teleoperation.

Uncontrolled Keywords: Grasping, Task analysis, Manipulators, Grippers, Service robots, Shared control, teleoperation, active constraints, virtual fixtures, grasping
Status: Postprint
URN: urn:nbn:de:tuda-tuprints-229289
Additional Information:

Video: https://t1p.de/5d4ju

The video shows the experimental setup along with a demonstration of the proposed architecture highlighting the different control modes.

Classification DDC: 000 Generalities, computers, information > 004 Computer science
Divisions: 20 Department of Computer Science > Intelligent Autonomous Systems
Date Deposited: 25 Nov 2022 12:50
Last Modified: 13 Jan 2023 09:10
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/22928
PPN: 503603996
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