A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation

摘要

The manipulation of Deformable Linear Objects (DLOs) is a critical process in which the introduction of automation and autonomous systems is still marginal. In this paper, a novel teleoperation framework is proposed in which an intuitive manipulation of DLOs is achieved by means of visual aid. The proposed system could be deployed for manipulating DLOs in hazardous scenarios or for simplifying robot teaching tasks by allowing a faster demonstration time. Experiments are performed involving several subjects and their feedback is collected by means of a survey. The results show that the proposed teleoperation framework simplifies DLOs manipulation and reduces the task completion time by 20% on average.