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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2506.13704 |
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| _version_ | 1866911007568297984 |
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| author | Sripada, V. Khan, A. Föcker, J. Parsa, S. P, Susmitha Maior, H Ghalamzan-E, A. |
| author_facet | Sripada, V. Khan, A. Föcker, J. Parsa, S. P, Susmitha Maior, H Ghalamzan-E, A. |
| contents | Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to simplified tasks involving 6- or 7-DoF manipulators and rely on separate control strategies for navigation and manipulation. This increases both cognitive load and operational overhead. In this paper, we present a unified tele-mobile manipulation framework that leverages haptic-guided shared control. The system integrates a 9-DoF follower mobile manipulator and a 7-DoF leader robotic arm, enabling seamless transitions between tele-navigation and tele-manipulation through real-time haptic feedback. A user study with 20 participants under real-world conditions demonstrates that our framework significantly improves task accuracy and efficiency without increasing cognitive load. These findings highlight the potential of haptic-guided shared control for enhancing operator performance in demanding teleoperation scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_13704 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | HARMONI: Haptic-Guided Assistance for Unified Robotic Tele-Manipulation and Tele-Navigation Sripada, V. Khan, A. Föcker, J. Parsa, S. P, Susmitha Maior, H Ghalamzan-E, A. Robotics Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to simplified tasks involving 6- or 7-DoF manipulators and rely on separate control strategies for navigation and manipulation. This increases both cognitive load and operational overhead. In this paper, we present a unified tele-mobile manipulation framework that leverages haptic-guided shared control. The system integrates a 9-DoF follower mobile manipulator and a 7-DoF leader robotic arm, enabling seamless transitions between tele-navigation and tele-manipulation through real-time haptic feedback. A user study with 20 participants under real-world conditions demonstrates that our framework significantly improves task accuracy and efficiency without increasing cognitive load. These findings highlight the potential of haptic-guided shared control for enhancing operator performance in demanding teleoperation scenarios. |
| title | HARMONI: Haptic-Guided Assistance for Unified Robotic Tele-Manipulation and Tele-Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.13704 |