Haptic-enhanced shared control for collaborative dual-robot telemanipulation in large-scale object handling

The Material handling is often a repetitive, labor-intensive process that can be optimized through automation. However, while humanoid robots provide dexterity, they face limitations in handling large-scale objects, particularly in extreme environments where the transportation of hazardous materials demands stringent safety measures. This paper presents the development of a shared control strategy for the telemanipulation of large objects using dual mobile manipulators. A high-level impedance control layer is integrated into the shared control framework to ensure smooth and adaptive movement in complex environments. Progression through the phases of object manipulation is governed by a finite state machine (FSM) integrated within the coordinator node. To enhance operator situational awareness, the system incorporates haptic feedback and a virtual reality (VR)-based Hapto-Vision interface, enabling real-time visualization of force dynamics, positioning, and interactions. System performance is evaluated using key parameters such as repeatability, latency, and resilience to external disturbances. The proposed software framework enables adaptable, safe, and precise Telemanipulation across different mobile platforms with minimal hardware changes.

Subjects

Haptic Feedback

Impedance Control

Remote Collaboration

Shared control

Teleoperation Systems

DDC Class

600: Technology

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Haptic-enhanced shared control for collaborative dual-robot telemanipulation in large-scale object handling