Human-Robot Collaborative Semi-Autonomous Teleoperation with Force Feedback

摘要

Teleoperation is the most important method to control robot in the distance, as complete autonomy still has a long way to go. To facilitate teleoperation efficiency, human-robot collaboration methods have been suggested, in which robot and human work together to accomplish a task. In this paper, we propose a semi-autonomous teleoperation method, with which operator can command the robot to reach the desired location via direct control at the initial phase, by virtue of the intent recognition algorithm, sub-task is recognized, and finally robot itself takes over the control to accomplish the task. A biological experiment is designed, and the direct control and semi-autonomous control strategies are compared through user studies. Execution time, task success rate and a subjective evaluation (NASA TLX) are used to quantify user performance. The trials show that our strategy can reduce workload and enhance operation accuracy significantly.