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A Haptic Shared Autonomy With Partial Orientation Regulation for DoF Deficiency in Remote Side
IEEE Transactions on Haptics
|April 8, 2023
Summary
This study introduces partial orientation regulation (POR) for robots with limited movement capabilities. The new haptic shared autonomy method safely restricts unreachable motions while maintaining intuitive control for operators.
Area of Science:
- Robotics
- Control Systems
- Human-Computer Interaction
Background:
- Orientation regulation is crucial for autonomous systems.
- Partial Orientation Regulation (POR) addresses safety by preventing unreachable motions.
- Degree-of-Freedom (DoF) deficiency in remote systems necessitates POR.
Purpose of the Study:
- To develop a POR method for systems with rotational DoF deficiency.
- To address challenges in decomposing orientations and providing haptic feedback for missing DoF.
- To enhance intuitive control in remote robotic operations.
Main Methods:
- Proposed a haptic shared autonomy approach with POR capabilities.
- Utilized perpendicular curve theory in SO(3) for orientation decomposition.
- Designed a haptic rendering algorithm to convey missing DoF information.
Main Results:
- Successfully regulated operator orientation commands, discarding unreachable motions.
- Preserved remaining intuitive motions for follower robots.
- Haptic rendering effectively communicated missing DoF information.
Conclusions:
- The proposed haptic shared autonomy with POR is effective for DoF-deficient systems.
- The method enhances safety and intuitiveness in remote robotic control.
- Validated through simulations and experimental results.
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