Haptic Teleoperation for Low-Latency Robotic Manipulation
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Solution Overview
Problem
Current teleoperation systems require operators to be seated at the same table or room as the robot, limiting the distance of remote control and increasing latency.
Innovation Solution
A teleoperation system that includes a robotic controller translating user inputs to control signals, a robotic manipulator with separate operation, and a feedback system for low latency control, using haptic interfaces and deep reinforcement learning algorithms for efficient remote operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If operators are seated at the same table or room as the robot, then control precision and feedback responsiveness are improved, but operator mobility and system adaptability are limited
Solution Approach 1:
The patent introduces a haptic interface device as an intermediary between the operator and the robotic manipulator. This mediator transmits tactile sensations and force feedback from the robot to the operator remotely, enabling precise control without requiring physical proximity. The haptic interface acts as a sensory bridge that maintains control precision while allowing operator mobility.
2Adaptability or versatility
If remote control distance is increased, then operator safety and system versatility are improved, but latency and control responsiveness deteriorate
Solution Approach 1:
The system performs preliminary actions by pre-processing control signals and pre-establishing communication channels before actual remote operation begins. The haptic interface is pre-calibrated and communication protocols are pre-configured to minimize processing delays. This preliminary preparation reduces latency when operators control robots from distant locations.
Solution Approach 2:
The patent implements a real-time feedback loop where the haptic interface continuously transmits tactile sensations from the robotic manipulator back to the operator. This closed-loop feedback system compensates for transmission delays by providing continuous sensory information, maintaining responsiveness even when control distance is increased. The feedback mechanism ensures that operators receive immediate tactile cues about robot interactions with objects.
Data Source
AI summary
A teleoperation system, including a robotic controller configured to translate a plurality of user inputs to a plurality of robotic control signals. A robotic manipulator, configured to operate separately from the robotic controller and to receive robotic control signals from the robotic controller, the robotic manipulator comprising a plurality of first joints and an end effector, wherein the robotic manipulator is configured to assume a plurality of poses, and wherein each respective pose of the plurality of poses corresponds to a respective configuration of the plurality of first joints. A feedback system, operatively coupled to the robotic manipulator, the feedback system configured to generate feedback information and transmit the feedback information to the robotic controller, wherein the feedback information includes information that indicates a current pose of the robotic manipulator, including the respective configuration of the plurality of first joints corresponding to the current pose of the robotic manipulator.