Global-Local Interface for On-Demand Teleoperation
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Accesso online: | |
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| _version_ | 1866918138535215104 |
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| author | Zhou, Jianshu Liang, Boyuan Huang, Junda Zhang, Ian Tomizuka, Masayoshi |
| author_facet | Zhou, Jianshu Liang, Boyuan Huang, Junda Zhang, Ian Tomizuka, Masayoshi |
| contents | Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations in flexibility, range of workspace and precision. To fuse these advantages, we introduce the Global-Local (G-L) Teleoperation Interface. This interface decouples robotic teleoperation into global behavior, which ensures the robot motion range and intuitiveness, and local behavior, which enhances human operator's dexterity and capability for performing fine tasks. The G-L interface enables efficient teleoperation not only for conventional tasks like pick-and-place, but also for challenging fine manipulation and large-scale movements. Based on the G-L interface, we constructed a single-arm and a dual-arm teleoperation system with different remote control devices, then demonstrated tasks requiring large motion range, precise manipulation or dexterous end-effector control. Extensive experiments validated the user-friendliness, accuracy, and generalizability of the proposed interface. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_09960 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Global-Local Interface for On-Demand Teleoperation Zhou, Jianshu Liang, Boyuan Huang, Junda Zhang, Ian Tomizuka, Masayoshi Robotics Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations in flexibility, range of workspace and precision. To fuse these advantages, we introduce the Global-Local (G-L) Teleoperation Interface. This interface decouples robotic teleoperation into global behavior, which ensures the robot motion range and intuitiveness, and local behavior, which enhances human operator's dexterity and capability for performing fine tasks. The G-L interface enables efficient teleoperation not only for conventional tasks like pick-and-place, but also for challenging fine manipulation and large-scale movements. Based on the G-L interface, we constructed a single-arm and a dual-arm teleoperation system with different remote control devices, then demonstrated tasks requiring large motion range, precise manipulation or dexterous end-effector control. Extensive experiments validated the user-friendliness, accuracy, and generalizability of the proposed interface. |
| title | Global-Local Interface for On-Demand Teleoperation |
| topic | Robotics |
| url | https://arxiv.org/abs/2502.09960 |