Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.06932 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866918434691874816 |
|---|---|
| author | Fan, Xinyang Chen, Zhaoyang Xin, Shu Ren, Yi Jiang, Zainan Ni, Fenglei Liu, Hong |
| author_facet | Fan, Xinyang Chen, Zhaoyang Xin, Shu Ren, Yi Jiang, Zainan Ni, Fenglei Liu, Hong |
| contents | Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We propose a shared teleoperation framework where humans and robots share positioning control, while the robot autonomously manages orientation to satisfy dynamic constraints. Key contributions include: 1) A theoretical dynamic constraint analysis utilizing a novel virtual object (VO)-based method to simplify constraints for trajectory planning. 2) An MPC-based trajectory smoothing algorithm that enforces real-time constraints and coordinates user tracking with orientation control. 3) Validations demonstrating stable manipulation of nine objects at accelerations up to 2.4 m/s2. Compared to the baseline, our approach reduces sliding distance by 72.45% and eliminates tip-overs (0% vs. 13.9%), proving robust adaptability in complex scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_06932 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control Fan, Xinyang Chen, Zhaoyang Xin, Shu Ren, Yi Jiang, Zainan Ni, Fenglei Liu, Hong Robotics Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We propose a shared teleoperation framework where humans and robots share positioning control, while the robot autonomously manages orientation to satisfy dynamic constraints. Key contributions include: 1) A theoretical dynamic constraint analysis utilizing a novel virtual object (VO)-based method to simplify constraints for trajectory planning. 2) An MPC-based trajectory smoothing algorithm that enforces real-time constraints and coordinates user tracking with orientation control. 3) Validations demonstrating stable manipulation of nine objects at accelerations up to 2.4 m/s2. Compared to the baseline, our approach reduces sliding distance by 72.45% and eliminates tip-overs (0% vs. 13.9%), proving robust adaptability in complex scenarios. |
| title | Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.06932 |