Redesigning the Human-Robot Interface: Intuitive Teleoperation of Anthropomorphic Robots

摘要

A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems.In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today's low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback.This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e.large task spaces) and high precision tasks (i.e.very small task spaces).The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware.This thesis discusses the design requirements and philosophy of this interface, provides vi a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.