Assisted Telemanipulation - A Stack-Of-Tasks Approach to Remote Manipulator Control
IROS, pp. 1-9, 2018.
This article presents an approach for assisted teleoperation of a robot arm, formulated within a real-time stack-of-tasks (SoT)whole-body motion control framework. The approach leverages the hierarchical nature of the SoT framework to integrate operator commands with assistive tasks, such as joint limit and obstacle avoidance or automatic...More
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