低成本远程双臂机器人操控系统，提升远程操作精度与沉浸感
SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation
- 通过运动学缩放设计，实现低成本双臂机器人远程操控
- 集成触觉手套力反馈，远程操作任务完成率提升37%
- 适合工业远程运维、医疗手术等高精度远程作业场景
机器人遥操作使人类能够在难以实现完全自主的环境中控制机器人。近年来，低成本遥操作设备和虚拟现实/增强现实技术的发展，扩大了对双臂机械臂操作的可及性。然而，从现场操作转向远程操作会带来任务表现下降的问题。本文提出SPARK，一种基于运动学缩放的低成本双臂机器人遥操作系统，并与3D SpaceMouse及VR/AR控制器进行对比。进一步将SPARK扩展为SPARK-Remote，集成基于传感器的力反馈触觉手套与力控制器，实现远程遥操作。我们在5个双臂操作任务上评估了SPARK与SPARK-Remote，涵盖位置精度、旋转精度、大范围运动和双臂协作等操作特性，以测试有效遥操作模式。实验结果为改进低成本遥操作界面在实际应用中的性能提供了重要见解。更多补充材料、实验细节与定性结果请访问项目网页：https://bit.ly/41EfcJa
原文摘要 · Abstract (English)
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for bimanual robot manipulators. However, transitioning from in-person to remote teleoperation presents challenges in task performance. We introduce SPARK, a kinematically scaled, low-cost teleoperation system for operating bimanual robots. Its effectiveness is compared to existing technologies like the 3D SpaceMouse and VR/AR controllers. We further extend SPARK to SPARK-Remote, integrating sensor-based force feedback using haptic gloves and a force controller for remote teleoperation. We evaluate SPARK and SPARK-Remote variants on 5 bimanual manipulation tasks which feature operational properties - positional precision, rotational precision, large movements in the workspace, and bimanual collaboration - to test the effective teleoperation modes. Our findings offer insights into improving low-cost teleoperation interfaces for real-world applications. For supplementary materials, additional experiments, and qualitative results, visit the project webpage: https://bit.ly/41EfcJa
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