Motion Polytopes in Virtual Reality for Shared Control in Remote Manipulation Applications.

ABSTRACT: In remote applications that mandate human supervision, shared control can prove vital by establishing a harmonious balance between the high-level cognition of a user and the low-level autonomy of a robot. Though in practice, achieving this balance is a challenging endeavor that largely depends on whether the operator effectively interprets the underlying shared control. Inspired by recent works on using immersive technologies to expose the internal shared control, we develop a virtual reality system to visually guide human-in-the-loop manipulation. Our implementation of shared control teleoperation employs end effector manipulability polytopes, which are geometrical constructs that embed joint limit and environmental constraints. These constructs capture a holistic view of the constrained

SUBMITTER: Zolotas M 

PROVIDER: S-EPMC8458706 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature