The Experts below are selected from a list of 24765 Experts worldwide ranked by ideXlab platform
Jee-hwan Ryu - One of the best experts on this subject based on the ideXlab platform.
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Motion encoding with asynchronous trajectories of repetitive Teleoperation tasks and its extension to human-agent shared Teleoperation
Autonomous Robots, 2019Co-Authors: Affan Pervez, Jee-hwan Ryu, Hiba Latifee, Dongheui LeeAbstract:Teleoperating a robot for complex and intricate tasks demands a high mental workload from a human operator. Deploying multiple operators can mitigate this problem, but it can be also a costly solution. Learning from Demonstrations can reduce the human operator’s burden by learning repetitive Teleoperation tasks. Yet, the demonstrations via Teleoperation tend to be inconsistent compared to other modalities of human demonstrations. In order to handle less consistent and asynchronous demonstrations effectively, this paper proposes a learning scheme based on Dynamic Movement Primitives. In particular, a new Expectation Maximization algorithm which synchronizes and encodes demonstrations with high temporal and spatial variances is proposed. Furthermore, we discuss two shared Teleoperation architectures, where, instead of multiple human operators, a learned artificial agent and a human operator share authority over a task while teleoperating cooperatively. The agent controls the more mundane and repetitive motion in the task whereas human takes charge of the more critical and uncertain motion. The proposed algorithm together with the two shared Teleoperation architectures (human-synchronized and agent-synchronized shared Teleoperation) has been tested and validated through simulation and experiments on 3 Degrees-of-Freedom Phantom-to-Phantom Teleoperation. Conclusively, the both proposed shared Teleoperation architectures have shown superior performance when compared with the human-only Teleoperation for a peg-in-hole task.
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Teleoperation of multi-robot and multi-property systems
2008 6th IEEE International Conference on Industrial Informatics, 2008Co-Authors: Ildar Farkhatdinov, Jee-hwan RyuAbstract:This paper presents a study on switching of control signals in multiple Teleoperation systems. In Teleoperation systems human-operator controls slave robot on remote side via manipulating master device. Today teleoperated robot systems are becoming more and more significant in various aspects of human life. It is often required to one human-operator to perform Teleoperation of several robots or to control several properties of one robot. To solve this issue we proposed a control strategy based on switching of control signals from human-operator in Teleoperation of multiple systems. Two types of multiple Teleoperation systems are considered: multi-robot and multi-property Teleoperation systems. In multi-robot Teleoperation systems, one human-operator controls a group of robots in remote side. In multi-property Teleoperation systems, one human-operator controls several properties of one robot. In both cases, control is done via manipulating only one master device. Therefore, switching control strategy which allows human-operator to perform sequential Teleoperation of multiple systems is required. In this paper formalization of switching process and control signal distribution was done. In order to verify proposed switching control strategy two application examples were presented. First, Teleoperation of mobile platform with manipulator using switching control strategy was analyzed. In this case, control signal from human-operator was distributed between mobile platform and manipulator with the help of designed switching controller. Second, mobile robot Teleoperation with combined speed and position control was described. In this example, human-operator could switch control mode for mobile robot Teleoperation between speed control mode and position control mode. The above described switching methods have been verified by simulation and experiment. Experimental study for mobile robot Teleoperation with combined speed and position control was performed. Navigation time and positioning accuracy in mobile robot Teleoperation were measured and compared in speed, position and combined control strategies. Experimental results showed that application of proposed switching controller improved performance and accuracy of Teleoperation system.
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A User Study of a Mobile Robot Teleoperation
2007Co-Authors: Ildar Farkhatdinov, Jee-hwan RyuAbstract:In this paper several interfaces for Teleoperation of a mobile robot are described and analyzed. We consider Teleoperation of a wheeled mobile robot when control commands are given by human operator through a haptic master device. Described human-robot Teleoperation interfaces were tested by performing experiments. Main objective was to verify the role of different types of feedback information and command strategies for improving the performance of the system. Position-speed and position-position command strategies were used for mobile robot Teleoperation. In position-position strategy desired speed of a mobile robot is defined by a master manipulator's position. In position-speed command strategy robot's position is controlled by position of master device. Hybrid command strategy, combining position-speed and position-position strategy, was introduced and used also. First, unilateral Teleoperation was studied. Experiments with position-speed, position-position and hybrid command strategies were evaluated. Second, bilateral Teleoperation of a mobile robot was studied using two types of force feedback: force feedback related to obstacle range information and force feedback including information about the state of the robot. For experiments with bilateral Teleoperation different command strategies were applied. Advantages and disadvantages of each type of human-robot interaction interface were described.
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ICRA - Stable Teleoperation with time domain passivity control
IEEE Transactions on Robotics and Automation, 2004Co-Authors: Jee-hwan Ryu, Dongsoo Kwon, Blake HannafordAbstract:A new bilateral control scheme is proposed to ensure stable Teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to Teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave Teleoperation system. Stable Teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.
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stable Teleoperation with time domain passivity control
International Conference on Robotics and Automation, 2002Co-Authors: Jee-hwan Ryu, Dongsoo Kwon, Blake HannafordAbstract:A new bilateral control scheme is proposed to ensure stable Teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to Teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave Teleoperation system. Stable Teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.
Blake Hannaford - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Stable Teleoperation with time domain passivity control
IEEE Transactions on Robotics and Automation, 2004Co-Authors: Jee-hwan Ryu, Dongsoo Kwon, Blake HannafordAbstract:A new bilateral control scheme is proposed to ensure stable Teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to Teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave Teleoperation system. Stable Teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.
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stable Teleoperation with time domain passivity control
International Conference on Robotics and Automation, 2002Co-Authors: Jee-hwan Ryu, Dongsoo Kwon, Blake HannafordAbstract:A new bilateral control scheme is proposed to ensure stable Teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to Teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave Teleoperation system. Stable Teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.
Matei Ciocarlie - One of the best experts on this subject based on the ideXlab platform.
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a continuous Teleoperation subspace with empirical and algorithmic mapping algorithms for non anthropomorphic hands
IEEE Transactions on Automation Science and Engineering, 2020Co-Authors: Cassie Meeker, Maximilian Haasheger, Matei CiocarlieAbstract:Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a nonanthropomorphic robot hand can be difficult, due to the hands' dissimilar kinematics. In this article, we seek to create a mapping between the human hand and a fully actuated, nonanthropomorphic robot hand that is intuitive enough to enable effective real-time Teleoperation, even for novice users. To accomplish this, we propose a low-dimensional Teleoperation subspace that can be used as an intermediary for mapping between hand pose spaces. We present two different methods to define the Teleoperation subspace: an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and an algorithmic definition, which is kinematically independent and uses objects to define the subspace. We use each of these definitions to create a Teleoperation mapping for different hands.
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a continuous Teleoperation subspace with empirical and algorithmic mapping algorithms for non anthropomorphic hands
arXiv: Robotics, 2019Co-Authors: Cassie Meeker, Maximilian Haasheger, Matei CiocarlieAbstract:Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar kinematics. In this paper, we seek to create a mapping between the human hand and a fully actuated, non-anthropomorphic robot hand that is intuitive enough to enable effective real-time Teleoperation, even for novice users. To accomplish this, we propose a low-dimensional Teleoperation subspace which can be used as an intermediary for mapping between hand pose spaces. We present two different methods to define the Teleoperation subspace: an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and an algorithmic definition, which is kinematically independent, and uses objects to define the subspace. We use each of these definitions to create a Teleoperation mapping for different hands. One of the main contributions of this paper is the validation of both the empirical and algorithmic mappings with Teleoperation experiments controlled by ten novices and performed on two kinematically distinct hands. The experiments show that the proposed subspace is relevant to Teleoperation, intuitive enough to enable control by novices, and can generalize to non-anthropomorphic hands with different kinematics.
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Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
arXiv: Robotics, 2018Co-Authors: Cassie Meeker, Thomas Rasmussen, Matei CiocarlieAbstract:Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous Teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and Teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for Teleoperation subspaces to effectively and intuitively enable Teleoperation. In experiments, novice users completed pick and place tasks significantly faster using Teleoperation subspace mapping than they did using state of the art Teleoperation methods.
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ICRA - Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018Co-Authors: Cassie Meeker, Thomas Rasmussen, Matei CiocarlieAbstract:Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous Teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and Teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for Teleoperation subspaces to effectively and intuitively enable Teleoperation. In experiments, novice users completed pick and place tasks significantly faster using Teleoperation subspace mapping than they did using state of the art Teleoperation methods.
Cassie Meeker - One of the best experts on this subject based on the ideXlab platform.
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a continuous Teleoperation subspace with empirical and algorithmic mapping algorithms for non anthropomorphic hands
IEEE Transactions on Automation Science and Engineering, 2020Co-Authors: Cassie Meeker, Maximilian Haasheger, Matei CiocarlieAbstract:Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a nonanthropomorphic robot hand can be difficult, due to the hands' dissimilar kinematics. In this article, we seek to create a mapping between the human hand and a fully actuated, nonanthropomorphic robot hand that is intuitive enough to enable effective real-time Teleoperation, even for novice users. To accomplish this, we propose a low-dimensional Teleoperation subspace that can be used as an intermediary for mapping between hand pose spaces. We present two different methods to define the Teleoperation subspace: an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and an algorithmic definition, which is kinematically independent and uses objects to define the subspace. We use each of these definitions to create a Teleoperation mapping for different hands.
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a continuous Teleoperation subspace with empirical and algorithmic mapping algorithms for non anthropomorphic hands
arXiv: Robotics, 2019Co-Authors: Cassie Meeker, Maximilian Haasheger, Matei CiocarlieAbstract:Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar kinematics. In this paper, we seek to create a mapping between the human hand and a fully actuated, non-anthropomorphic robot hand that is intuitive enough to enable effective real-time Teleoperation, even for novice users. To accomplish this, we propose a low-dimensional Teleoperation subspace which can be used as an intermediary for mapping between hand pose spaces. We present two different methods to define the Teleoperation subspace: an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and an algorithmic definition, which is kinematically independent, and uses objects to define the subspace. We use each of these definitions to create a Teleoperation mapping for different hands. One of the main contributions of this paper is the validation of both the empirical and algorithmic mappings with Teleoperation experiments controlled by ten novices and performed on two kinematically distinct hands. The experiments show that the proposed subspace is relevant to Teleoperation, intuitive enough to enable control by novices, and can generalize to non-anthropomorphic hands with different kinematics.
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Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
arXiv: Robotics, 2018Co-Authors: Cassie Meeker, Thomas Rasmussen, Matei CiocarlieAbstract:Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous Teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and Teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for Teleoperation subspaces to effectively and intuitively enable Teleoperation. In experiments, novice users completed pick and place tasks significantly faster using Teleoperation subspace mapping than they did using state of the art Teleoperation methods.
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ICRA - Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018Co-Authors: Cassie Meeker, Thomas Rasmussen, Matei CiocarlieAbstract:Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous Teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and Teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for Teleoperation subspaces to effectively and intuitively enable Teleoperation. In experiments, novice users completed pick and place tasks significantly faster using Teleoperation subspace mapping than they did using state of the art Teleoperation methods.
Thomas B. Sheridan - One of the best experts on this subject based on the ideXlab platform.
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Space Teleoperation Through Time Delay: Review and Prognosis
IEEE Transactions on Robotics and Automation, 1993Co-Authors: Thomas B. SheridanAbstract:The paper reviews a 30-year history of research on dealing with the effects of time delay in the control loop on human Teleoperation in space. Experiments on the effects of delay on human performance are discussed, along with demonstrations of predictive displays to help the human overcome the delay. Supervisory control is shown to offer a variety of options, from switching to local impedance control upon contact with the environment to higher-level local automation. Wave transformation techniques to ameliorate the effects of delay are also described. Space Teleoperations have tended to deal with the problem of time delay by avoiding it and not attempting to teleoperate from the ground. The paper opines that our space effort might have gotten further ahead and at a lower cost had we committed more to space Teleoperation from the ground through the delay. Predictive display works well for free positioning. Local impedance control is recommended for control in contact with the environment, possibly accompanied by wave transformation techniques. Higher level supervisory control is always an option for sufficiently predictable tasks, and will continue to improve with better sensors and task models.
