diff --git "a/89AyT4oBgHgl3EQf3Pk4/content/tmp_files/load_file.txt" "b/89AyT4oBgHgl3EQf3Pk4/content/tmp_files/load_file.txt" new file mode 100644--- /dev/null +++ "b/89AyT4oBgHgl3EQf3Pk4/content/tmp_files/load_file.txt" @@ -0,0 +1,882 @@ +filepath=/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf,len=881 +page_content='Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System Christian Lenz∗, Sven Behnke Institute for Computer Science VI, Autonomous Intelligent Systems, University of Bonn, Friedrich-Hirzebruch-Allee 8, 53115 Bonn, Germany Abstract Robotic teleoperation is a key technology for a wide variety of applications.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar arms are controlled in Cartesian space with a direct mapping of the operator movements.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The measured forces and torques on the avatar side are haptically displayed to the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The system was successfully evaluated during the ANA Avatar XPRIZE competition semifinals.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, we performed in lab experiments and carried out a small user study with mostly untrained operators.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Keywords: force feedback control, teleoperation, dual arm manipulation, human robot interaction, real-time control, haptic interface 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Introduction Published in Robotics and Autonomous Systems, 2022 https://doi.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='org/10.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1016/j.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='robot.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2022.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='104338 Teleoperation is a very powerful method to control robots.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' It enables humans to explore remote locations and to interact there with objects and persons without be- ing physically present.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Although state-of-the-art methods for autonomous control are improving rapidly, the expe- rience and instincts of humans, especially for solving un- predictable problems is unparalleled so far.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The current COVID-19 pandemic is a great example of scenarios where remote work is highly desirable.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Further possible appli- cations for teleoperation include disaster response where humans can operate remotely and use critical situation- saving skills without risking their lives as well as main- tenance and healthcare to allow experts operating in re- mote locations for manipulation tasks without the need of travel.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Robotic teleoperation is a popular research area which is advanced by multiple robotic competitions like the DARPA Robotics Challenge [1] and RoboCup Res- cue [2].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' These events are a great opportunity to bench- mark and evaluate different highly integrated and complex systems in standardized test scenarios under comparable conditions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our team NimbRo participates in the ANA ∗Corresponding author Email addresses: lenz@ais.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='uni-bonn.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='de (Christian Lenz), behnke@cs.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='uni-bonn.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='de (Sven Behnke) Avatar XPRIZE Competition1 with the goal to advance the state of the art of such robotic telemanipulation and telepresence systems.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition to immersive visualization of the remote location, one important aspect is telemanipulation which enables the operator to physically interact with the re- mote environment.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This capability is critical for many applications—without it, we are constrained to mere telep- resence.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In this work, we present a humanoid bimanual tele- manipulation system built from off-the-shelf components, which allows a human operator to interact and manipu- late in remote locations (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 1).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our contributions include: 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Integrating a bimanual robotic avatar and an upper- body operator exoskeleton for Cartesian telemanip- ulation, 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' an arm and hand controller with force and haptic feedback, 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' a model-based arm movement prediction to hapti- cally display position and velocity limitations of the remote avatar in real time, 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' an oscillation observer module to detect and suppress oscillations introduced in the force-feedback control loop, and 1https://www.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='xprize.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='org/prizes/avatar Preprint submitted to Robotics and Autonomous Systems January 3, 2023 arXiv:2301.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='00764v1 [cs.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='RO] 2 Jan 2023 Figure 1: Our bimanual haptic telemanipulation system: Human operator in operator station (right) inspecting an object during the ANA Avatar XPRIZE Competition semifinals through a remote anthropomorphic avatar robot (left).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' subsystem evaluation in lab experiments, a user study, as well as our participation at the ANA Avatar XPRIZE competition semifinals.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Related Work Teleoperation is a widely investigated research area.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A leading device (in our context called the Operator Station, see Section 3), often with haptic feedback is used to control a following device (Avatar Robot) in a remote location.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The DARPA Robotics Challenge (DRC) 2015 [1] required the development of mobile telemanipulation systems.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Sev- eral research groups, such as DRC-HUBO [3], CHIMP [4], RoboSimian [5], and our own entry Momaro [6] presented teleoperation systems with impressive manipulation capa- bilities.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The focus was on completing as many manipu- lation and locomotion tasks as possible using a team of trained operators.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Thus, some hardware and software components were highly specialized towards solving pre- defined tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, the robots were not required to communicate or interact with other humans in the remote location and thus did not feature respective capabilities.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In contrast, our developed avatar solution was designed for interaction with humans in the remote location and the operator interface is designed to give intuitive control over the robot to a single, possibly untrained operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Pres- ence of the operator in the remote location is prioritized over specific task solution skills.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Passivity control constitutes a large research field in the context of teleoperation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Uncertainties of the opera- tor’s input dynamics, as well as the remote environment are factors which introduce potential instability in control loops.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Many different passivity control methods tackle the stability problem, e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='g.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' [7, 8, 9, 10, 11, 12].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' These control schemes use the concept of passivity which is a sufficient condition to obtain a stable control system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Control sys- tems are considered passive if and only if the energy flow- ing into the system exceeds the energy flowing out at any time.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Conveniently, if all subsystems are passive the entire system is guaranteed to be passive as well.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Ryu and Preusche [11] use a time-domain passivity con- trol approach to ensure stable teleoperation, handling time delay of up to 120 ms.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A passivity observer is used to mon- itor the energy transferred from the operator to the avatar system and vice versa.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The passivity controller actively dampens the system to ensure passivity and thus stability of the system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our approach uses a similar observer and dampening approach to ensure stable teleoperation control loops.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' One drawback of energy-based time-domain passiv- ity controllers is the occurrence of position drift, which is handled by [13, 14] and improved in a 1 DOF (degree of freedom) teleoperation setup by Coelho et al.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' [15].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The de- sign of our control architecture assures position drift-free teleoperation by commanding goal poses for each avatar hand.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Small position derivations can occur due to motion execution.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' However, these are negligible small for our ap- plication (see Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Overall, passivity control can suffer from distortion of the displayed environment [16].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In presence of large communication time delays (in the order of seconds) between operator and operator sta- tion (e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='g.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', in space teleoperation missions), predictive con- trol methods can improve task performance [17].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The re- mote robot tries to anticipate human control commands to complete partially transmitted instructions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Hauser [18] presents a prediction and planning method to assist tele- operation without assuming a finite set of candidate tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Nevertheless, this method is limited to a finite set of task types and needs a large number of training data to over- come this limitation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our control approach is designed to limit the operator only within the underlying hardware 2 EINALS NG2021SEMIF TESTING20 L FINALS MIFINALS JG2021 STING 2021 ANAD ANA RIZE NALS TAR G2021 INALS NG2O2 ANAD NAL IG20 AN FINAconstrains, without constraining the task solution itself.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Some recent approaches use teleoperation interfaces which only send commands to the robot without providing any force or haptic feedback to the operator [19, 20].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The advantage of such systems is clearly the low weight of the capture devices which hinder the operator only marginally.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The downside is missing force or haptic feedback, espe- cially for tasks that cannot be solved with visual feedback alone, such as difficult peg-in-hole tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Other methods use custom-developed operator inter- faces including force and haptic feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Klamt et al.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' [21] developed a centaur-like platform for teleoperation in disaster response scenarios.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The proposed teleoperation interfaces uses actuators located at the base of the de- vice and metallic tendons for torque transmission to the actuated joints.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This approach benefits from light-weight moving parts with low inertia resulting in an easily back- drivable system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' However, the used metallic tendons in- troduce some compliant behavior which need to be con- sidered.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In our approach, we use off-the-shelf robotic arms with actuators located inside the joints.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We utilize an external FT-Sensor to actively follow the operator’s arm movement.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Guanyang et al.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' [22] use two haptic devices (3DoF rotational and 3DoF translational device) to con- trol a robot’s end-effector.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both devices can display con- tact forces with high stiffness due to mechanical design.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' However, limited workspace and thus the requirement of a motion mapping between operator station and controlled robot as well as using two devices to control full 6D motion are some drawbacks compared to our approach.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In Abi- Farrajl et al.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' [23] the operator station is comparable to our approach, but the focus there is placed on haptic feedback for balance control of the bipedal humanoid avatar robot.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Wearable haptic feedback devices [24] overcome the workspace constraints generated by stationary devices but are limited to displaying contact since they cannot create any force towards the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Other research projects focus on controlling a teleoperation system under time delays [25] or with two different kinematic chains on the avatar side [26].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In contrast to the highlighted related research, our ap- proach focuses on off-the-shelf components which allow for easy replication and maintenance.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Furthermore, the used robotic arms are replaceable with any other appropriate actuators with different kinematic chains, since the whole communication between the systems uses only the 6D end- effector pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Hardware Setup The developed robotic teleoperation system consists of an operator station and an avatar robot, as shown in Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The operator station allows the operator to con- trol the avatar from a remote location.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' It includes two robotic arms, hand exoskeleton, 3D Rudder foot paddle, and a head mounted display with additional sensors.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar robot is designed to interact with humans and in SenseGlove Panda Arms FT Sensors Schunk SVH Hand Operator Avatar Figure 2: Operator (left) and avatar (right) arm with used hardware components.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For simplicity, only the right arm is shown.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The axes depict the common hand frame which is used for control commands and feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' human-made indoor environments and, thus, features an anthropomorphic upper body mounted on a mobile base.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The operator station and the avatar robot are con- trolled with a standard desktop computer (Intel i9-9900K @ 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='60 GHz, NVidia RTX 2080) each.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The communica- tion between these computers is achieved by a single Gi- gabit Ethernet connection.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We successfully tested the sys- tem with artificial delay of up to 30 ms in both directions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Thus, our system allows operating the avatar from a dis- tant location.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' On the software side, the Robot Operating System (ROS) framework is used.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both, the operator sta- tion and the avatar robot run their own roscore.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We use NimbRo Network2 for any communication between both roscores.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The hardware design of the operator station and avatar robot is described in the following.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Avatar Robot The avatar robot’s anthropomorphic upper body mim- ics the human arm configuration using two 7 DoF Franka Emika Panda arms, mounted in slightly V-shaped angle.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The shoulder height of 110 cm above the floor allows con- venient manipulation of objects on a table, as well inter- action with both sitting and standing persons.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The shoul- der width of under 90 cm enables easy navigation through standard doors.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The Panda arms have a sufficient payload of 3 kg and a maximal reach of 855 mm.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The extra degree of freedom gives some flexibility in the elbow position.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' While the arm measures joint torques in each arm joint, we mounted addi- tional OnRobot HEX-E 6-Axis force/torque sensors at the wrists for more accurate force and torque measurements close to the robotic hands, since this is the default loca- tion of contact with the robot’s environment (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 2).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar robot is equipped with two anthropomorphic hands.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A 20 DoF Schunk SVH hand is mounted on the right side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The nine actuated DoF provide very dexterous manipulation capabilities.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The left arm features a 5 DoF 2https://github.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='com/AIS-Bonn/nimbro_network 3 Franka Arm FT Sensor Sense Glove Arm Controller Hand Controller 6D pose 7DoF torque Avatar Model 6D forces/torques 7D torque Finger pos.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Finger forces Arm Controller Hand Controller Franka Arm FT Sensor Schunk Hand Finger cmds Motor currents Hand command Hand feedback 6D pose 7DoF positions 7DoF torques 7DoF positions 6D forces/torques Operator Station Avatar Robot Figure 3: Control System overview.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For simplicity, only the right side is depicted.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The left side is controlled similarly, besides a different Hand Controller for the different Schunk hands.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Schunk SIH hand for simpler but more force-requiring ma- nipulation tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both hand types thus complement each other.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar’s head is equipped with two RGB cameras, a microphone, and a small screen displaying the animated face of the operator [27].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' It is attached to the upper body using a 6 DoF UFactory xArm for free head movement.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, two wide-angle RGB cameras are capturing the robot’s vicinity for situation awareness during locomotion.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Further details on the VR remote visualization system are provided in [28].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The anthropomorphic upper body has been mounted on a movable base, which allows omnidirec- tional movement.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Operator Station The operator controls the avatar through the Opera- tor Station from a comfortable sitting pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The human hand movement is captured with a similar setup as al- ready described for the avatar robot: Two Panda arms are equipped with an OnRobot HEX-E force/torque sen- sor and connected to the operator hand using a SenseGlove haptic interaction device.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The Panda arms thus serve dual purposes: They provide precise 6D human hand pose mea- surements for avatar control, as well as the possibility to induce force feedback measured by the Avatar onto the hu- man wrists.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The operator-side force/torque sensor is used to measure the slightest operator hand movement to assist the operator in moving their arm, reducing the felt mass and friction to a minimum.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The SenseGlove haptic interaction device features 20 DoF finger joint position measurements (four per finger) and a 1 DoF haptic feedback channel per finger (i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', when acti- vated the human feels resistance, which prevents further finger closing movement).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For visual and audio communication, the operator is wearing a head mounted display equipped with eye track- ers, audio headset, and a camera viewing the lower face part (for more details see [29] and [30]).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar loco- motion can be controlled using a 3D Rudder foot paddle device.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The Panda arms feature built-in safety measures and will stop immediately if force, torque, or velocity limits are exceeded.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This ensures safe human-robot interactions both on the operator and the avatar side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Force Feedback Controller The control architecture for the force feedback tele- operation system consists of two arm and two hand con- trollers (one for each the operator and the avatar side).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For the right and the left arm, each controller pair is running separately.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The hand controller for the right and left hand are slightly different since different robotic hands are used.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' An overview of the control architecture is shown in Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The arm controllers run with an update rate of 1 kHz and the force-torque sensor measurements are captured with 500 Hz.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The force-torque measurements are smoothed us- ing a sensor-sided low-pass filter with a cut-of frequency of 15 Hz.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since the robot arms are attached from outside to the operator’s wrists (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3), the kinematic chains of avatar and operator station differ, and thus, a joint-by-joint map- ping of the operator and avatar arm is not possible.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Con- sequently, the developed control concept does not rely on similar kinematic chains.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Instead, a common control frame is defined in the middle of the palm of both the human and robotic hands, i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', all necessary command and feedback data are transformed such that they refer to this frame before being transmitted.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The controllers for the opera- tor and avatar arms and both hands are described in the following subsections.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Operator Arm Controller The operator arm controller commands joint torques to the Panda arm and reads the current operator hand 4 robot SCHUNKOFigure 4: Unintended lower arm contact: Typical situation in which the avatar’s lower arm establishes contact with the environment, which cannot be measured by the force-torque sensor.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Panda arm torques are used to provide the operator with appropriate force feed- back.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' tp 1 2 tp 0 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 dp [rad] α Figure 5: Operator arm torque command (see Eq.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (1)) is scaled using α to reduce oscillations when getting close to joint position or velocity limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The scalar decreases linearly if the distance to a joint position limit dp exceeds the threshold tp.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Velocity limits are handled analogously.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' pose to generate the commanded hand pose sent to the avatar robot.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The goal is to generate a weightless feel- ing for the operator while moving the arm—if no force feedback is displayed.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Even though the Panda arm has a convenient teach-mode using the internal gravity compen- sation when zero torques are commanded, the weightless feeling can be further improved by using precise external force-torque measurements.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Any contact established by the avatar robot with its hands and lower arms is hap- tically displayed to the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since the teleoperation system has no information about the operator’s intention, contact should not be avoided but displayed to the opera- tor to keep the human in control of the situation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For simplicity, just one arm is mentioned in the follow- ing, since the left and right arms are controlled equally.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Torque Controller Let us denote with τo ∈ R7 the commanded joint torques for a particular time step.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Then τo = ατcmd + βτf + τlo + τla + τno + τco (1) describes the used torque components (command, force feedback, operator limit avoidance, avatar limit avoidance, null-space, and Coriolis) which will be explained in the fol- lowing.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Note that the gravity compensation is not consid- ered here, since it is done by the Franka Control Interface (FCI) itself.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The commanded joint torques τcmd to move the Panda arm based on the force/torque sensor measurements and are defined as τcmd = JT F (2) with J being the body Jacobian relative to the hand frame and F ∈ R6 denoting the measured 3D forces and 3D torques.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The scalars α ∈ R7 are computed by the predic- tive limit avoidance module (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Note that F has to be corrected taking sensor bias and attached end- effector weight into account, as well as transformed into the common hand control frame (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The term τf denotes the force feedback induced by the avatar-side force-torque sensor and Panda arm torque measurements.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The scalar β is computed by the oscillation observer module (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3) to prevent possible os- cillations in the feedback loop.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The force-torque measure- ments are used as the primary feedback source.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' They are already bias-corrected and correctly transformed, there- fore Eq.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (2) can be directly applied analogously to compute the induced joint torques τsensor.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In some situations, especially when performing manip- ulation tasks on a table, the avatar establishes contact between the lower arm and the environment (for example the table, see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4), which are not visible from the opera- tor’s view pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since the force-torque sensor and hand are above the table, this type of contact cannot be measured by the force-torque sensor.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Here, we must use the joint torque measurements of the Panda arm to give the opera- tor feedback about the contact.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The Franka API provides estimated Cartesian forces fpanda at the end-effector.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We use fdiff = ˆfpanda − ˆfsensor (3) to calculate the forces in the end-effector frame which cannot be measured using the force-torque sensor, where ˆfpanda and ˆfsensor are the respective low-pass filtered end- effector forces.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Finally, we transform the calculated forces into the wrist frame and compute τf = τsensor + τdiff, (4) where τdiff ∈ R6 is fdiff ∈ R3 extended with t0 ∈ R3, since we ignore torque measurements here.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Predictive Limit Avoidance Humans can achieve high speeds moving their arm, which can exceed the Panda joint velocity limits (up to 150◦/s).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' To prevent the operator from exceeding joint position or velocity limits of the Panda arm, the term τlo ∈ R7 is introduced to apply torques pushing the arm away from those limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' For a single joint i, the torque to avoid its position limit is defined as 5 0 1 2 3 4 5 6 7 0 1 2 3 Initial Contact Time [s] Amplitude [N] x-Axis y-Axis z-Axis Figure 6: Oscillation observer: Frequency analysis (left) of force feedback measurements from the avatar robot’s right arm while placing a vase on a table (right).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The initial contact between vase and table is marked.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The graph shows the amplitude of the 4th frequency (ca.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='7 Hz) computed using a sliding DFT for each axis over time.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Figure 7: Arm workspace evaluation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Left: Initial arm setup, simi- lar to the avatar side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Right: Optimized mounting pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Turquoise (reachable) and red (not reachable) arrows depict the captured hu- man left-hand poses.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The coordinate axes depict the operator sitting pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' τ i lo−position = � γp( 1 di p − 1 tp ), di p < tp 0, else (5) with γp being a constant scalar, di p being the distance for joint i to its closer position limit, and tp = 10◦ being a threshold how close a joint must be at a limit to activate this behavior.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' τ i lo−velocity is calculated analogously with tv = 40◦/sec.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Together, τlo is defined as τlo = τlo−position + τlo−velocity.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (6) The torques τlo exhibit hyperbolical growth when getting closer to respective limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since the operator-side force- torque sensor will measure the generated limit avoidance torques, the arm can end up oscillating, especially being close to one or multiple position limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Thus, the torques τcmd, which are influenced by the force-torque sensor, are scaled per joint by α, which is defined as α = max(0, min(1, 2 min(dp tp , dv tv ) − 1)).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (7) The scalar α is designed to decrease linearly and reach zero when the limit is approached halfway after activating the limit avoidance (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This reduces the commanded torques τcmd enough when approaching a position or ve- locity limit and prevents the oscillation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' As already mentioned, the operator station and avatar robot have different kinematic arm chains.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Therefore, avoid- ing position and velocity limits on the operator side does not guarantee limit avoidance on the avatar side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Calculat- ing the joint torques preventing joint limits on the avatar robot in a similar way is not beneficial, since the feedback information would arrive with high latency (mainly be- cause of the delay generated by motion execution on the avatar side).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' To overcome this issue, we use a model of the avatar inside the operator arm controller to predict the avatar arm movement for the next time step and calculate the needed joint torques to prevent joint limit violations in advance.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The current operator hand pose is used as the desired goal pose for the avatar arm in the common gripper frame.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We estimate the avatar arm joint configuration reaching this goal pose using inverse kinematics (IK).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The latest re- ceived avatar arm joint positions are used to initialize the IK solver.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The current joint velocities are approximated by a low-pass filtered version of the joint position first deriva- tives.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Having estimated the joint positions and velocities, we can apply the same avoidance strategy as described above (see Eq.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (6)).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Finally, the resulting joint torques can be transformed into the common 6D hand frame us- ing the pseudoinverse of the Jacobian transpose (JT A)+ and back to joint torques for the operator arm with JT O.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This results in τla = JT O(JT A)+τla−model.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (8) The remaining two torque components from Eq.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (1) are τno and τco.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The term τno is a null-space optimiza- tion term which pulls the elbow towards a defined conve- nient pose in the null-space of the Jacobian.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The result is a more human-like elbow pose to maximize the oper- 6 ator workspace by pushing the arm away from singulari- ties.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The last torque component is the Coriolis term τco obtained by the Panda model.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Oscillation Observer Our telemanipulation control system as described above is designed as simple as possible, but yet powerful to give the operator control over the robot along with necessary force feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The downside is, that our controller can- not promise any stability, resulting in oscillations when certain contact forces are measured.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We address this is- sue by observing the force feedback channel, detecting any critical oscillations, and reducing the feedback introduced into the system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The sliding Discrete Fourier-Transformation (DFT) [31, 32] method is used to analyze the force feedback channel per axis.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since we did not measure isolated oscillations in the torque channels, analyzing the 3D forces is sufficient.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The force measurements are sampled with around 1 kHz.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We experimentally investigated the oscillation frequency to obtain suitable DFT parameters and the observed fre- quency band.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the experiments, we provoked vibrations in the system by placing a vase harshly on a table.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The used sliding DFT has resolution of 512 and uses the Han- ning window to minimize spectral leakage.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We observe correlation between the generated oscillation and the am- plitude of the 4th frequency (ca.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='7 Hz), is depicted in Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In each time step, the force measurements of all three axes are analyzed using separate sliding DFTs.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Next, the combined result is computed using the Euclidean norm over all axes amplitudes.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The resulting value v is clamped using experimentally obtained parameters (min = 163 and max = 500) and scaled to be within the interval [0, 1].' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Finally, the scalar β = 1 − v is used to scale the force feedback provided to the operator (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The change rate of β is limited to gradually remove and re- store the force feedback, s.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='t.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' the observer needs 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 s to fully remove the feedback in case of detected oscillations and 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='7 s to reach the normal force feedback control sta- tus again.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This gentle oscillation elimination behavior is as little noticeable for the operator as possible.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Note that Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 6 shows the oscillation without feedback reduction.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The computation of β and the effect oscillation damping are evaluated in Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar arm controller commands the Panda arm of the avatar robot to follow the commanded 6D pose by sending joint torques τa ∈ R7 to the Franka Control Inter- face.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The commanded torque is defined as τa = τcmd + τinit + τna + τca, (9) where τcmd ∈ R7 and τinit ∈ R7 are calculated to reach the goal pose during operation and initialization, respec- tively (see below).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The components τna and τca are the null-space optimization and Coriolis terms similar to τno and τco, as described in Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The convenient elbow poses used for the null-space optimization is defined such that the elbows are slightly stretched out.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This generates a more human-like arm configuration and keeps the arm away from singularities in the elbow joints.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Other singular- ities do not occur due to the nature of the arm kinematic in the usable workspace and other joint position limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Therefore, no special singularity handling is needed here.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The goal torques τcmd and τinit are generated using a Cartesian impedance controller that emulates a spring– damper system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Its equilibrium point is the 6D goal pose commanded by the operator station in the common hand frame: τcmd = JT (−S∆p − D(J ˙q)), (10) where J denotes the zero Jacobian, S ∈ R6×6 and D ∈ R6×6 denote the stiffness and damping matrix, ∆p ∈ R6 is the error in translation and rotation between the current and goal end-effector pose, and ˙q ∈ R7 denotes the current joint velocities.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' τinit is only used for a safe initialization procedure (see below) and generated similarly using the current end-effector pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The stiffness and damping pa- rameters symbols and their values are empirically tuned to achieve some compliance while still closely following the operator command.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' When no goal pose command is received, the controller keeps commanding the current arm pose to remain in a safe state.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This happens when the operator station is not ac- tive or if a communication breakdown occurs (no operator command within the last 100 ms).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' After receiving a com- mand, the controller performs an initialization procedure which fades linearly between the current and the new re- ceived goal pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This prevents the robot from generating high torques to suddenly reach the new, possibly distant pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This initialization process takes about 3 s.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The Panda arm stops immediately when excessive forces are measured, for example when there is unintended con- tact that exceeds force/torque thresholds.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This feature is necessary to operate in a safe way.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' After notification of the human operator, the avatar arm controller can restart the arm automatically.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' After performing the initialization procedure, normal teleoperation can be resumed.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Hand Control The operator finger movements are captured using two SenseGlove haptic interaction devices.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Four separate fin- ger joint measurements are provided per finger.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since the Schunk SVH and SIH robotic hands on the avatar have nine and five actuated joints, respectively, only the cor- responding joint measurements are selected and linearly mapped to the avatar hands.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' While this mapping does not precisely replicate hand postures – this is impossible anyways due to the different kinematic structure – it gives the operator full control over all hand DoFs.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both hands provide feedback in the form of motor cur- rents, which is used to provide per-finger haptic feedback to the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The SenseGlove brake system is switched on or off depending on a pre-defined current threshold.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 7 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 −1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='05 −1 −0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='95 ∆t Time [s] q1 [rad] Figure 8: Predictive avatar model: Measured joint position for the first joint of the right avatar arm during a grasping motion (green) and predicted joint position for predictive limit avoidance (blue).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both measurements are captured on the operator side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Communica- tion between both systems and motion execution generate a delay of up to 200 ms (∆t), which is compensated by the predictive model.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Force-Torque Sensor Calibration Different end-effectors (SenseGloves, Schunk SIH, Schunk SVH hand, and corresponding 3D printed mounting adapters) are mounted on each of the four involved force-torque sen- sors.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, sensor bias results in barely usable raw sensor data.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Thus, each sensor is calibrated separately to compensate these effects.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' To this end, 20 data samples from different sensor poses are collected.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Each sample in- cludes the gravity vector in the sensor frame and the mean of 100 sensor measurements from a static pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A standard least squares solver [33] is used to estimate the force-torque sensor parameters, i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', the force and torque bias and the mass and center of mass of all attached components.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The same parameters including the additional mass and center of mass transformation resulting by the force-torque sensor itself is used to configure the built-in gravity compensation of the Panda arms.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The calibration is performed once after hardware changes at the end-effectors or if the bias drift is too large.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This method does not compensate for bias drift during usage, but is sufficient for our application.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Evaluation In addition to our participation at the ANA Avatar XPRIZE Competition semifinals, we performed multiple experiments along with a small user study to evaluate the developed teleoperation system in our lab environment.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Quantitative Experiments In a first experiment, we evaluated the operator arm workspace.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 2,959 different 6D left hand poses were cap- tured from a sitting person performing typical arm mo- tions with a VR tracker on their wrist.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition to hand poses with a fully extended arm, most of the poses are directly in front of the person, likely to be performed during manipulation tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' First, the initial arm mount- ing pose (motivated by the avatar configuration) of the op- erator arm was evaluated.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Each captured hand pose was marked as reachable if an inverse kinematic solution for the 0 50 100 150 200 250 −10 0 10 Ours Time [s] Force [N] 0 50 100 150 200 250 −10 0 10 Panda Time [s] Force [N] Figure 9: Operator arm movement: Force in z-direction (in the di- rection of the human palm) needed to move the arm in the same repetitive motion with our operator arm controller running (top) and using only the Panda built-in gravity compensation (bottom).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Table 1: Operator arm workspace analysis Mounting Pose Reached Missed Reached [%] Initial 1,795 1,164 60.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 % Optimized 2,848 111 96.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 % arm was found.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In a second step, different arm mounting poses were sampled to find an optimal pose, maximizing the number of reachable hand poses (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 7).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Table 1 reports quantitative results.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The resulting arm mount- ing pose drastically increases the overlap (from 60.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6% to 96.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3%) between the human operator’s and the avatar’s arm workspace, but requires a more complicated mounting setup.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In a second experiment, we evaluated the predictive limit avoidance module.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Avatar arm position and veloc- ity limits are haptically displayed via joint forces to the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since measured joint positions and velocities are afflicted with latency generated by network commu- nication (<1 ms) and motion execution using the Carte- sian impedance controller, which can reach up to 200 ms (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1), the operator control predicts the avatar arm joint configuration.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 8 shows the measured and predicted joint position of the first right arm joint.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The prediction compensates the delays, which allows for instan- taneous feedback of the avatar arm limits to the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In a third experiment, we investigated the forces and torques required to move the operator station arm, since this directly affects operator fatigue.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We measured the forces and torques applied to the arm by reading the force- torque sensor measurements.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The arm was moved in a comparable manner once with only the Panda gravity com- pensation enabled (i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', τcmd = 0 see Eq.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' (1)) and a second 8 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 3 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 Initial Contact Active Observer Time [s] Amplitude [N] x-Axis y-Axis z-Axis (a) 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 3 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 Initial Contact Inactive Observer Time [s] Amplitude [N] x-Axis y-Axis z-Axis (b) 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 3 −1 0 1 2 Time [s] Joint Torque [Nm] 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 Initial Contact Active Observer β [0, 1] τ7 β (c) 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 2 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 3 −1 0 1 2 3 Time [s] Joint Torque [Nm] 0 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 1 Initial Contact Inactive Observer β [0, 1] τ7 β (d) Figure 10: Oscillation observer module.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Placing a vase onto a ta- ble results in the depicted amplitude response for 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='7 Hz for each Cartesian axis ((a) and (b)).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We performed the experiment twice with comparable executions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' First, the oscillation observer was ac- tive ((a) and (c)).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the second execution, the observer was inactive ((b) and (d)).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The corresponding joint torques commanded to the operator Panda arm are plotted exemplary for the 7th joint (c) and (d).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The force feedback is scaled with β (c) which is computed from the oscillation observer.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Note that β shown in (d) was computed but not used during execution.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' time with our arm force controller running.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 9, the forces in the direction of one exemplary axis are shown.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The results demonstrate the advantage of using an exter- nal force-torque sensor to generate a more unencumbered feeling for the operator while using the system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the last experiment, we analyzed the oscillation ob- server module (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3), which observes the avatar force feedback channel to detect and prevent oscillations in the closed-loop controller.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We used the avatar system to place a metal vase harshly on a table (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 6).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The exe- cuted joint torques on the operator side along with the fre- quency responses of the force-feedback measurements are shown in Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 10.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Although the oscillations are not elim- inated immediately (c), reducing the feedback gain yields the expected oscillation suppression.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The oscillation is de- tected by analyzing the frequency response shown in (a) and (b).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The gain β is reduced with the maximum allowed rate to a value of 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1 within 0.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 s.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Next, the operator does not feel the contact forces as strong, the oscillation stops (shown in the exemplary torque command for the 7th oper- ator arm joint (c)), and the gain is increased again, which brings back the force feedback for the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In conclu- sion, the oscillation observer module is a necessary part of our simple force-feedback control loop to ensure safe operation.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' User Study Our goal was to create an immersive and intuitive feel- ing for operation at remote locations using our system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Since humans have their very own preferences and sub- jective feelings of how good or intuitive certain control mechanisms perform, we carried out a user study with untrained operators, comparing different telemanipulation approaches.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Due to the COVID-19 pandemic, we were lim- ited to immediate colleagues as subjects, which severely constrained the scope of our study.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Although all partici- pants had a rough idea of the system, they controlled it for the first time during this study.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A total of five participants were asked to perform a bi- manual peg-in-hole manipulation task.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' First, two different objects had to be grasped: a small aluminum bar and a 3D printed part with a hole.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Afterwards, the bar should be inserted into the hole (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 11).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The avatar robot was already placed in front of a table and both objects were within the avatar’s workspace.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Participants controlled the robot using the operator station located within the same room.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Only the HMD with the avatar’s perspective was used for visual feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The task was challenging due to very little friction between the finger and objects and tight tolerances, which required precise insertion alignment.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Each participant performed the task three times with the following control modes: 1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Operator station with force feedback enabled, 2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Operator station with force feedback disabled, and 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' VR controllers.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 9 Figure 11: User study with untrained operator: Both objects had to be grasped and the bar had to be inserted into the hole.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Table 2: User study success rates and timings.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Telemanipulation mode Success Completion time [s] Mean StdDev 1) Exoskeleton with feedback 4/5 119.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='0 117.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1 2) Exoskeleton w/o feedback 5/5 123.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='0 88.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='4 3) VR controllers 3/5 126.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 25.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 In the first control mode, all system components were active as described in this article.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Any force and haptic feedback were disabled for the second control mode, i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' the operator had to rely on visual feedback only.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the third control mode two HTC Vive VR controllers were used as input devices.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' As long as the trigger button was pressed, the corresponding avatar arm followed the con- troller movement.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A different button was programmed to toggle between a defined closed and open hand pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' A maximum of 5 min were granted to solve the task be- fore it was marked as a failure.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' An object dropped outside the reachable workspace resulted in a failed trial.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Objects dropped onto the table within the workspace of the avatar could be grasped again with no penalty.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The participants were allowed to test each control mode about 1 min before starting the measured test.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Table 2 reports the quantitative results of the user study.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The time needed to successfully solve the task is quite similar over the different telemanipulation modes.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' From these experiments, we realized that the completion time was highly influenced by external factors, such as losing the object due to not enough finger friction or dif- ferent grasping and object handling solutions, which are unrelated to the used operator interface.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, hu- mans can easily compensate missing force feedback using visual feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' All three unsuccessful trials failed due to reaching the maximum experiment time of 5 min.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' To gen- erate a more meaningful statement based on performance scores, more test samples are needed.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition to these quantitative measurements, we asked the participants to answer a short questionnaire about each telemanipulation mode with answers from the 1-7 Likert scale (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 12).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The results show that es- pecially the feeling of handling the objects and intuitive finger control was subjectively much better using the Op- erator Station.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Enabling the force and haptic feedback gives the highest advantage when picking up the objects Table 3: Avatar Arm safety stops Scenario 1 Scenario 2 Scenario 3 Day 1 Exceeded Exceeded None torque limits vel.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' limits Day 2 None None Software failure from the table.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This can be explained by the additional feedback indicating contact between the hand and the ta- ble which cannot be perceived visually due to occlusions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' All participants reported to feel safe and comfortable us- ing the system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Although the experiment time was limited, this suggests non-excessive cognitive load on the operator.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Overall, the user study showed that our developed sys- tem is intuitive to use for untrained operators.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Even though the force and haptic feedback did not increase the success rate of solving the task, it increases the immersive feeling as shown by the questionnaire.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' ANA Avatar XPRIZE Competition Our avatar system was evaluated by independent judges during the ANA Avatar XPRIZE competition semifinals over two days3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' At each competition day, a first judge acted as the operator who performed 18 tasks in three predefined scenarios together with the second judge act- ing as the so called “recipient”.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The recipient was sitting with the avatar robot at a table in a different room about 100 m away from the operator control room.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Communi- cation of any kind between both judges was only possible through the avatar system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both judges were trained to get comfortable with our system during the first hour of a trial.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the second hour, the judges had to solve the tasks without any instructions or support from our team.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Thus, the judges were no experts but slightly more trained com- pared to the completely untrained operators in our user study (see Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 13 shows the three scenar- ios: Solving a jigsaw puzzle, celebrating a business deal, and exploring an artifact from a historical exhibition with the robot’s senses.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The enabled force feedback (Control Mode 1, see Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2) enabled the operator to feel some texture of the artifact.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The judges evaluated the avatar system with a major focus on the ability to convey human senses, actions, and presence in the remote location in real time.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' At both competition days, the same three scenar- ios were tested by different judges.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The better score per scenario (max.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 30 points per scenario) counted towards the final score.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Additional 10 points were given based on a video submitted prior to the semifinal showing the sys- tem in action in our lab4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our team NimbRo archived an almost perfect score of 99 out of 100 points, which placed us first in the semifinal.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 3Video material about the competition can be found here: http: //ais.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='uni-bonn.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='de/nimbro/AVATAR/ 4https://www.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='youtube.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='com/watch?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='v=yGwJIDBMolk 10 1 2 3 4 5 6 7 Did you feel safe and comfortable?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Did you feel like you were handling the objects directly?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Was it easy to control the robot?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Was it intuitive to control the arms?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Was it intuitive to control the fingers?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Did you find and recognize the objects?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Was it easy to grasp the objects?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Was it easy to fit the objects together?' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' VR Without FF With FF better Figure 12: Qualitative results of our user questionnaire.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We show the median, lower and upper quartile (includes interquartile range), lower and upper fence, outliers (marked with •) as well as the average value (marked with ×), for each aspect as recorded in our questionnaire.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Figure 13: ANA Avatar XPRIZE Semifinal Scenarios (left) and the used objects (right).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The three scenarios were: Solving a jigsaw puzzle (top), celebrating a business deal (middle), and exploring an artifact (bottom).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We analyzed the recorded data during the official semi- final test runs to obtain more insight on the technical per- formance of our system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the following, we report some results.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Safety System One important aspect of our avatar robot is to operate safely next to and in cooperation with humans.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Therefore, the avatar arm controller stops the Panda arm immedi- ately when unexpected high forces/torques are measured (see Section 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This behavior was activated three times during the performance of the six official scenarios (see Table 3).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' At Day 1, both arm stops were triggered by exceeded torque and velocity limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the first case, operator and recipient performed a powerful ’high five’ gesture, which resulted in a rapid increase of torque applied to the robot, exceeding the joint torque limits.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The predictive limit avoidance module was not able to prevent the operator executing such high contact forces, since the operator arm torque limits were reached as well.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In the second scenario on Day 1, the operator waved to the recipient.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The dif- ferent kinematic chains of the operator and avatar arm demand high joint accelerations and speeds on the avatar side for relative low operator arm speeds and accelerations.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The limit predictive module tried to slow down the oper- ator waving speed, but humans can overcome these ap- plied feedback forces to always give the operator control for safety reasons.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Here, the operator learned immediately continuing waving in a slightly slower and less acceleration- needing manner.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' At the second competition day, the right avatar arm stopped once while not actively being moved.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' After some investigation, we found a software failure which led to a very unlikely race condition.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This was easily fixed after the competition.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In all cases, the avatar and operator robot continued to work in a safe manner, which is necessary for human- robot interactions.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Our intuitive feedback to the operator 11 NimbRo Avatar Avatar XPRIZE Semifinals XPRIZE ANA AVATAR SEMIFINALS TESTING202 TINALO21 ANAD ANAD ANA VOALONimbRo Avatar X Avatar XPRIZE Semifinals 区 XPRIZE ANA AVATAR SEMIFINALS TESTING2 IAL021 ANAD AR ANAD OTRNNimbRo Avatar X Avatar XPRIZE Semifinals XPRIZE ANA AVATAR SEMIFINALS TESTING2O 口日 FINAL021 ANAD RTAR ANAL AR ANAC ORNFigure 14: Workspace analysis for all scenarios (solving a puzzle,' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' celebrating a business deal,' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' exploring an artifact) during the ANA Avatar XPRIZE Competition semifinal.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Top: Hand positions of the avatar (blue) and operator (magenta) depicted in the common frame.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Bottom: Operator VR perspective.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 0 20 40 60 80 100 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='4 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 Temporal Offset [ms] Translation Error [mm] Figure 15: Avatar arm latency analysis.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The graph shows the re- sulting mean translation error, comparing the current avatar hand position with an operator command shifted into the future.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The mean is calculated over both arms and all six official competition scenarios.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The minimum can be found at 44 ms, which is the esti- mated round-trip latency in our system — including network and motion execution.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' gave instantaneous situation awareness and allowed the operator to react and learn immediately to continue the ongoing tasks.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Arm Controller Accuracy After optimizing the usable workspace for the opera- tor (see Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1), Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 14 shows the used workspace for all three scenarios at the second competition day.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The required workspaces during the competition tasks were rel- atively low, such that we had no issues with our system.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We used the same data to analyze the spatial and tem- poral accuracy of our arm controller, i.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='e.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=', how precise and fast the avatar arms follow the operator commands during an evaluation task.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The measured operator and avatar hand positions were captured with 1000 Hz over the duration of the six official competition scenarios.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We then calculated the transla- tion error between the corresponding target and goal posi- tion for each arm, resulting in a 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 mm mean translation error.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addition, we investigated the estimated delay in our arm controller including network communication, controller runtime, and motion execution.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We compared the measured hand position of the avatar with the up to 100 ms delayed operator’s arm control position and cal- culated the mean translation error as explained above.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 15 shows the mean translation error over all com- petition tasks and both arms for a given temporal offset.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The minimum translation error is archived using a tempo- ral shift of 44 ms, resulting in a mean translation error of 12 oetaatUg FrameRat Normal Cell Count Cel su Calor Line Stylt 160: 160:164 Apha Ran oflst 0,;' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 0;' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 0 /Status O1 Syle Decay Tim Colo 21:641 /Statux:O1 Style oint Alpha DecayTim Position Trarsformt YZ258;' metadata={'source': 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+page_content='TESTING 20 ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='口日 ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='TI0AL021 ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='ANAL ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='RIZAR ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='ANA ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='ANAD ' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='OTRNTable 4: Translation error [mm] at ANA Avatar XPRIZE semifinals.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Day 1 Day 2 Scenario 1 2 3 1 2 3 Left Arm 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='4 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='7 7.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='9 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='9 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 44 ms shift1 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 7.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='6 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 Right Arm 13.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2 9.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='4 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1 44 ms shift1 12.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='5 9.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='0 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='2 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='8 1 Delay between operator station and avatar (see Fig.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 15) 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3 mm.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The results with and without temporal shift for both arms and all tasks are reported in Table 4.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Notice- able is the comparably large error for the right arm during Scenario 1 and 2 at the first competition day.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This can be explained by the executed safety stops (see Section 5.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='3.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content='1).' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' It takes about two seconds to safely fade the avatar arm to the commanded pose.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This results in possibly large po- sition errors.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Overall, the observed errors are rather small and not noticeable for the operator and could potentially be decreased by an even more accurate calibration on a whole-system level.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The estimated round-trip execution latency of 44 ms could be considered for future system im- provement.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' 6.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Discussion & Conclusion This work presented a bimanual telemanipulation sys- tem consisting of an exoskeleton-based operator control station and an anthropomorphic avatar robot.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Both com- ponents communicate using our force and haptic feedback controller, which allows safe and intuitive teleoperation for both the operator and persons directly interacting with the avatar.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The control method is agnostic to the kinematic parameters and uses only a common Cartesian hand frame for commands and feedback.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Using the predictive limit avoidance avatar model, arm limits for both the operator and avatar side can be force-displayed to the operator with low latency.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' The oscillation observer and damper mod- ules detect and suppress oscillations in the feedback con- trol loop by reducing the force feedback gains temporarily.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Additional force-torque sensors measurements are used to generate a weightless feeling for the operator while moving the arms without establishing contact on the avatar side.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' We evaluated the system using a user study with un- trained operators as well as in lab experiments.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' In addi- tion, the system performed very well at the ANA Avatar XPRIZE Competition Semifinals, scoring 99 out of 100 points.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' This demonstrates the intuitiveness and reliability of our system and its control methods.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Acknowledgments This work has been funded by the Deutsche Forschungs- gemeinschaft (DFG, German Research Foundation) under Germany’s Excellence Strategy, EXC-2070 - 390732324 - PhenoRob.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' References [1] E.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Krotkov, D.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Hackett, L.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Jackel, M.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Perschbacher, J.' metadata={'source': '/home/zjlab/wf/langchain-ChatGLM/knowledge_base/89AyT4oBgHgl3EQf3Pk4/content/2301.00764v1.pdf'} +page_content=' Pippine, J.' metadata={'source': 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