Towards Universal Shared Control in Teleoperation Without Haptic Feedback
Fuente:
arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866909676770164736 |
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| author | Grobbel, Max Schneider, Tristan Hohmann, Sören |
| author_facet | Grobbel, Max Schneider, Tristan Hohmann, Sören |
| contents | Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_23624 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards Universal Shared Control in Teleoperation Without Haptic Feedback Grobbel, Max Schneider, Tristan Hohmann, Sören Robotics Systems and Control Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives. |
| title | Towards Universal Shared Control in Teleoperation Without Haptic Feedback |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2506.23624 |