TY - GEN
T1 - A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems
AU - Sitler, Justin
AU - Sowrirajan, Srikarran
AU - Englot, Brendan
AU - Wang, Long
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework allows for the control of the vehicle along with two manipulators and their end-effectors using two low-cost haptic devices. The UVMS kinematics are derived in order to create an independent resolved motion rate controller for each manipulator, which optimally controls the joint positions to achieve a desired end-effector pose. This desired pose is computed in real-time using a teleoperation controller developed to process the dual haptic device input from the user. A physics-based simulation environment is used to implement this framework for two example tasks as well as provide data for error analysis of user commands∗, The first task illustrates the functionality of the framework through motion control of the vehicle and manipulators using only the haptic devices. The second task is to grasp an object using both manipulators simultaneously, demonstrating precision and coordination using the framework. The framework code is available at https://github.com/stevens-armlab/uvms_bimanual_sim.
AB - In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework allows for the control of the vehicle along with two manipulators and their end-effectors using two low-cost haptic devices. The UVMS kinematics are derived in order to create an independent resolved motion rate controller for each manipulator, which optimally controls the joint positions to achieve a desired end-effector pose. This desired pose is computed in real-time using a teleoperation controller developed to process the dual haptic device input from the user. A physics-based simulation environment is used to implement this framework for two example tasks as well as provide data for error analysis of user commands∗, The first task illustrates the functionality of the framework through motion control of the vehicle and manipulators using only the haptic devices. The second task is to grasp an object using both manipulators simultaneously, demonstrating precision and coordination using the framework. The framework code is available at https://github.com/stevens-armlab/uvms_bimanual_sim.
UR - http://www.scopus.com/inward/record.url?scp=85200708268&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85200708268&partnerID=8YFLogxK
U2 - 10.1109/UR61395.2024.10597507
DO - 10.1109/UR61395.2024.10597507
M3 - Conference contribution
AN - SCOPUS:85200708268
T3 - 2024 21st International Conference on Ubiquitous Robots, UR 2024
SP - 683
EP - 690
BT - 2024 21st International Conference on Ubiquitous Robots, UR 2024
T2 - 21st International Conference on Ubiquitous Robots, UR 2024
Y2 - 24 June 2024 through 27 June 2024
ER -