Structured Beam Projection for Semi-automatic Teleoperation

摘要

This paper presents a robotic architecture that facilitates semi-automatic teleoperation of a dual-arm manipulator system. The architecture is built upon reactive behavior agents tightly coupling sensign and action, where emergent behaviors correlate human intervention with sensor-based autonomous operation. Reactive agents are devised for perceptual and motor behaviors, and a structured light system is adopted to provide a visual reference to both behavioral agents and the human operator. The technical feasibility of the robotic behaviors is evaluated through simulation of the collaborative motion of a dual-arm manipulator. The presented sensor based semi-automatic teleoperation may improve human perception and simplify human action, and thus improve the efficiency and precision of teleoperation.