Ricerc@Sapienza

In the context of mobile manipulator teleoperation,
intuitive control interfaces are fundamental not only to reduce the
operator’s workload, but also to improve the situational awareness
during the task execution. In the case of object exploration tasks,
different operator control units have been proposed, many of them
inspired by the augmented reality, virtual reality, and computer
games contexts. In this work, one such control interface, known as
the orbit control mode, is formalized in terms of the remote center
of motion constraints. This interface allows for the definition of a
novel control mechanism able to take additional constraints, such
as obstacle avoidance and manipulation dexterity, by the exploitation
of the system redundancies. Experimental results obtained
from a real teleoperation task confirm the validity of the approach.