Semi-autonomous Teleimpedance Based on Visual Detection of Object Geometry and Material and its Relation to Environment
G. Siegemund (TU Delft - Human-Robot Interaction, Technical University of Berlin)
A. Díaz Rosales (CERN, TU Delft - Human-Robot Interaction)
Arne Glodde (Technical University of Berlin)
Franz Dietrich (Technical University of Berlin)
L. Peternel (TU Delft - Human-Robot Interaction)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
This paper presents a method for semiautonomous teleimpedance where the control is shared between the human operator and the robot. The human commands the position of the teleoperated robotic arm end-effector while the robot autonomously adjusts the impedance depending on the object with which the end-effector interacts. We developed a vision system that calculates the appropriate robot stiffness based on the detected object geometry and material and object’s relation to the environment. This system uses an RGB-D camera near the robot’s end-effector to capture different perspectives of the scene. To validate the proposed method, we conducted experiments on a teleoperation system where a Force Dimension Sigma7 haptic device was used to operate a KUKA LBR iiwa robotics arm. At the same time, the Intel RealSense D455 depth camera provided the visual input. We examined two practical tasks: engaging with bolts on a plate and polishing a stripe.