モバイル協働ロボットの近接・遠隔操作を両立する多目的インターフェース

原文アブストラクト

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that integrates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.