分离平移与旋转输入，提升遥操作任务执行效率
Disentangling Coordiante Frames for Task Specific Motion Retargeting in Teleoperation using Shared Control and VR Controllers
- 将平移与旋转输入分开处理，避免操作时的镜像混淆
- 在UR5e机械臂上实现，任务完成时间显著缩短
- 适合需要精细动作控制的遥操作场景
遥操作中的任务完成时间仍远低于人类直接操作。主要影响因素之一是人对坐标变换和对齐能力的局限性，这与视角和运动重定向策略密切相关。当前系统通常采用一次性校准或模式切换进行运动重定向，面对如连续拧螺丝等复杂任务时，操作者需手动对齐（如镜像）旋转与平移指令，导致困难。近期研究显示，分离平移与旋转可提升任务表现。本文提出一种正式的运动重定向方法，将平移与旋转输入解耦，并集成到基于最优控制的轨迹规划器中，在UR5e机械臂上验证有效。
原文摘要 · Abstract (English)
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments, which is directly influenced by the point of view and the motion retargeting strategy. In modern teleoperation systems, motion retargeting is usually implemented through a one time calibration or switching modes. Complex tasks, like concatenated screwing, might be difficult, because the operator has to align (e.g. mirror) rotational and translational input commands. Recent research has shown, that the separation of translation and rotation leads to increased task performance. This work proposes a formal motion retargeting method, which separates translational and rotational input commands. This method is then included in a optimal control based trajectory planner and shown to work on a UR5e manipulator.
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