Development of a Shared Controller for Obstacle Avoidance in a Teleoperation System

Abstract

Several methods have been investigated to increase the efficiency of the operator in teleoperation, but remote devices still cannot be operated efficiently in the presence of the obstacle. In this study, a virtual link and virtual joints were created within the end-effector of the slave robot, and a shared controller was designed to implement an effective obstacle avoidance algorithm for the remote control system. Teleoperation experiments were conducted to verify the algorithm. Completion time and the NASA Task Load Index (NASA-TLX) were measured to evaluate the improvement of teleoperator work efficiency. When the obstacle avoidance algorithm was used, completion time decreased by 8.64%, and the average NASA-TLX decreased by 30.33 % as compared without the algorithm. Our method effectively improved completion time and NASA-TLX scores for both skilled and nonskilled human-operators.

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Authors

Corresponding author

Correspondence to Gi-Hun Yang.

Additional information

Recommended by Associate Editor Changchun Hua under the direction of Editor Myo Taeg Lim.

This work was supported by the Technology Innovation Program (Industrial Strategic Technology Development Program, 10060070, Development of Core Teleoperation Technologies for Maintaining and Repairing Tasks in Nuclear Power Plants) funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea).

JiWoong Han received his B.S. degree in Mechatronics Engineering from Chungnam National University in 2014. Since 2015, he has been a Ph.D. student in the School of Robotics and Virtual Engineering, University of Science & Technology. His research interests include teleopeation, shared control, and machine learning.

Kyunghwan Cho received his B.S. degree in School of electrical and electronics engineering from Soongsil University and his M.S degree in electronic and electrical engineering from SungKyunKwan University, in 2014 and 2016, respectively. He was a researcher with the Robotics R&D Group, Korea Institute of Industrial Technology from 2016 to 2019. His research interests include deep learning, object detection.

Inhoon Jang received his B.S., M.S. and Ph.D. degrees from the Department of Electrical and Electronics Engineering, Chung-Ang University, Seoul, Korea, in 1993, 1999 and 2010, respectively. He is currently a principal researcher in the Korea Institute of Industrial Technology. His research interests include Robotic perception & control in dynamic, unstructured environments.

Chanyoung Ju received his B.S. and M.S. degrees from the Department of Rural and Biosystems Engineering, Chonnam National University, Korea, in 2017 and 2019, respectively, where he is currently pursuing a Ph.D. degree in biosystems engineering. His research interests include field robotics, supervisory control, and discrete event and hybrid systems.

Hyoung Il Son received his B.S. and M.S. degrees from the Department of Mechanical Engineering, Pusan National University, Korea, in 1998 and 2000, respectively, and a Ph.D. degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Korea, in 2010. In 2015, he joined the Faculty of the Department of Rural and Biosystems Engineering, Chonnam National University, Gwangju, Korea, where he is currently an Associate Professor. Before joining Chonnam National University, from 2012 to 2015, he led the Telerobotics Group, Central Research Institute, Samsung Heavy Industries, Daejeon, Korea, as a Principal Researcher. He also had several appointments both academia and industry, as a Senior Researcher, with LG Electronics, Pyungtaek, Korea, from 2003 to 2005, and Samsung Electronics, Cheonan, Korea, from 2005 to 2009, a Research Associate with the Institute of Industrial Science, The University of Tokyo, Tokyo, Japan, in 2010, and a Research Scientist with the Max Planck Institute for Biological Cybernetics, Tübingen, Germany, from 2010 to 2012. His research interests include field robotics, hybrid systems, teleoperation, and haptics.

Gi-Hun Yang received his B.S. degree in Mechanical Engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2000, an M.S. degree in Mechanical Engineering from KAIST, Daejeon, Korea, in 2002, and a Ph.D. degree in Mechanical Engineering from KAIST, in 2008. He was previously a Post-Doc at the Center for Cognitive Robotics Research at KIST. He is currently a Principal Research Scientist of Robotics Group at Korea Institute of Industrial Technology (KITECH). His current research interests include haptics, teleoperation, HRI, bio-inspired robots and industrial robots.

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Han, J., Cho, K., Jang, I. et al. Development of a Shared Controller for Obstacle Avoidance in a Teleoperation System. Int. J. Control Autom. Syst. (2020). https://doi.org/10.1007/s12555-019-0410-0

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Keywords

  • Obstacle avoidance
  • object detection
  • shared control
  • teleoperation