7,865 research outputs found
Autonomy Infused Teleoperation with Application to BCI Manipulation
Robot teleoperation systems face a common set of challenges including
latency, low-dimensional user commands, and asymmetric control inputs. User
control with Brain-Computer Interfaces (BCIs) exacerbates these problems
through especially noisy and erratic low-dimensional motion commands due to the
difficulty in decoding neural activity. We introduce a general framework to
address these challenges through a combination of computer vision, user intent
inference, and arbitration between the human input and autonomous control
schemes. Adjustable levels of assistance allow the system to balance the
operator's capabilities and feelings of comfort and control while compensating
for a task's difficulty. We present experimental results demonstrating
significant performance improvement using the shared-control assistance
framework on adapted rehabilitation benchmarks with two subjects implanted with
intracortical brain-computer interfaces controlling a seven degree-of-freedom
robotic manipulator as a prosthetic. Our results further indicate that shared
assistance mitigates perceived user difficulty and even enables successful
performance on previously infeasible tasks. We showcase the extensibility of
our architecture with applications to quality-of-life tasks such as opening a
door, pouring liquids from containers, and manipulation with novel objects in
densely cluttered environments
Delay compensation for nonlinear teleoperators using predictor observers
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also
utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization of disturbance observers and predictor observer allow simple PD controllers to be used to provide stable position tracking for bilateral teleoperation. Proposed approach is verified with simulations where it is compared with two state-of-the-art methods. Successful experimental results with a bilateral teleoperation system consisting of a pair of pantograph robots also validates the proposed method
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