The manipulation of Deformable Linear Objects (DLOs) is a critical process in which the introduction of automation and autonomous systems is still marginal. In this paper, a novel teleoperation framework is proposed in which an intuitive manipulation of DLOs is achieved by means of visual aid. The proposed system could be deployed for manipulating DLOs in hazardous scenarios or for simplifying robot teaching tasks by allowing a faster demonstration time. Experiments are performed involving several subjects and their feedback is collected by means of a survey. The results show that the proposed teleoperation framework simplifies DLOs manipulation and reduces the task completion time by 20% on average.

Chiaravalli D., Caporali A., Friz A., Meattini R., Palli G. (2023). A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation. 345 E 47TH ST, NEW YORK, NY 10017 USA : IEEE [10.1109/AIM46323.2023.10196145].

A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation

Chiaravalli D.;Caporali A.;Meattini R.;Palli G.
2023

Abstract

The manipulation of Deformable Linear Objects (DLOs) is a critical process in which the introduction of automation and autonomous systems is still marginal. In this paper, a novel teleoperation framework is proposed in which an intuitive manipulation of DLOs is achieved by means of visual aid. The proposed system could be deployed for manipulating DLOs in hazardous scenarios or for simplifying robot teaching tasks by allowing a faster demonstration time. Experiments are performed involving several subjects and their feedback is collected by means of a survey. The results show that the proposed teleoperation framework simplifies DLOs manipulation and reduces the task completion time by 20% on average.
2023
2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
733
738
Chiaravalli D., Caporali A., Friz A., Meattini R., Palli G. (2023). A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation. 345 E 47TH ST, NEW YORK, NY 10017 USA : IEEE [10.1109/AIM46323.2023.10196145].
Chiaravalli D.; Caporali A.; Friz A.; Meattini R.; Palli G.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/947055
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