将机器人操作分为全局与局部控制，兼顾大范围移动和精细操作。
Global-Local Interface for On-Demand Teleoperation
- 分离全局运动与局部操控，提升操作灵活性
- 支持大范围移动与高精度任务，实测表现优异
- 适合工业、非结构化环境中的复杂操作任务
遥操作是人机交互的关键方法，在工业及非结构化环境中具有重要应用潜力。现有方法在灵活性、工作空间范围和精度方面各有优劣。为此，我们提出全局-局部（G-L）遥操作接口，将机器人遥操作解耦为全局行为（保障运动范围与直观性）和局部行为（增强操作者灵巧性与精细任务执行能力）。该接口不仅适用于传统抓取放置等任务，也适用于高难度精细操作与大范围运动。基于此接口，我们构建了单臂与双臂遥操作系统，采用不同远程控制设备，成功演示了大范围运动、精确操作或末端执行器灵巧控制等任务。大量实验验证了该接口的易用性、准确性与泛化能力。
原文摘要 · Abstract (English)
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations in flexibility, range of workspace and precision. To fuse these advantages, we introduce the Global-Local (G-L) Teleoperation Interface. This interface decouples robotic teleoperation into global behavior, which ensures the robot motion range and intuitiveness, and local behavior, which enhances human operator's dexterity and capability for performing fine tasks. The G-L interface enables efficient teleoperation not only for conventional tasks like pick-and-place, but also for challenging fine manipulation and large-scale movements. Based on the G-L interface, we constructed a single-arm and a dual-arm teleoperation system with different remote control devices, then demonstrated tasks requiring large motion range, precise manipulation or dexterous end-effector control. Extensive experiments validated the user-friendliness, accuracy, and generalizability of the proposed interface.
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