A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems

Justin Sitler, Srikarran Sowrirajan, Brendan Englot, Long Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2024 21st International Conference on Ubiquitous Robots, UR 2024
Pages683-690
Number of pages8
ISBN (Electronic)9798350361070
DOIs
StatePublished - 2024
Event21st International Conference on Ubiquitous Robots, UR 2024 - New York, United States
Duration: 24 Jun 202427 Jun 2024

Publication series

Name2024 21st International Conference on Ubiquitous Robots, UR 2024

Conference

Conference21st International Conference on Ubiquitous Robots, UR 2024
Country/TerritoryUnited States
CityNew York
Period24/06/2427/06/24

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