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Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 4/2016

01.10.2016 | Original Research Paper

Bilateral teleoperation of a group of mobile robots for cooperative tasks

verfasst von: Ying Zhang, Guangming Song, Zhong Wei, Huiyu Sun, Yong Zhang

Erschienen in: Intelligent Service Robotics | Ausgabe 4/2016

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Abstract

A visual and force feedback-based teleoperation scheme is proposed for cooperative tasks. The bilateral teleoperation system includes a haptic device, an overhead camera and a group of wheeled robots. The commands of formation and average velocities of the multiple robots are generated by the operator through the haptic device. The state of the multiple robots and the working environment is sent to the human operator. The received information contains the feedback force through the haptic device and visual information returned by a depth camera. The feedback force based on the difference between the desired and actual average velocities is presented. The wave variable method is employed in the bilateral teleoperation of multiple mobile robots with time delays. The effectiveness of the bilateral teleoperation system is demonstrated by experiments. The robots in the slave side are able to follow the commands from the master side to interact with the environments, including moving in different formations and pushing a box. The results show that the scheme enables the operator to manipulate a group of robots to complete cooperative tasks freely.
Vorheriger Artikel Building 3D semantic maps for mobile robots using RGB-D camera
Nächster Artikel A human–robot interface using particle filter, Kalman filter, and over-damping method

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Metadaten
Titel
Bilateral teleoperation of a group of mobile robots for cooperative tasks
verfasst von
Ying Zhang
Guangming Song
Zhong Wei
Huiyu Sun
Yong Zhang
Publikationsdatum
01.10.2016
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 4/2016
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-016-0204-7

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