The handling of Deformable Linear Objects (DLOs) represents a crucial process where the integration of automation and autonomous systems remains limited. This paper introduces a teleoperation framework designed for the intuitive manipulation of DLOs with the assistance of visual cues. The proposed system holds potential for applications in hazardous scenarios and robot teaching tasks involving DLOs. A set of experiments involving multiple subjects were conducted. The results demonstrate that the suggested teleoperation framework simplifies the manipulation of DLOs, resulting in an average 20% reduction in task completion time.
Chiaravalli, D., Caporali, A., Friz, A., Meattini, R., Palli, G. (2024). Intuitive Telemanipulation of DLOs Via Vision-Based Shared Control: A Pilot Study. london : springer [10.1007/978-3-031-76428-8_37].
Intuitive Telemanipulation of DLOs Via Vision-Based Shared Control: A Pilot Study
Chiaravalli, Davide;Caporali, Alessio;Friz, Anna;Meattini, Roberto;Palli, Gianluca
2024
Abstract
The handling of Deformable Linear Objects (DLOs) represents a crucial process where the integration of automation and autonomous systems remains limited. This paper introduces a teleoperation framework designed for the intuitive manipulation of DLOs with the assistance of visual cues. The proposed system holds potential for applications in hazardous scenarios and robot teaching tasks involving DLOs. A set of experiments involving multiple subjects were conducted. The results demonstrate that the suggested teleoperation framework simplifies the manipulation of DLOs, resulting in an average 20% reduction in task completion time.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
