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Theses

Contributions to shared control architectures for advanced telemanipulation

Firas Abi-Farraj 1, 2
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : While full autonomy in unknown environments is still in far reach, shared-control architectures where the human and an autonomous controller work together to achieve a common objective may be a pragmatic "middle-ground". In this thesis, we have tackled the different issues of shared-control architectures for grasping and sorting applications. In particular, the work is framed in the H2020 RoMaNS project whose goal is to automatize the sort and segregation of nuclear waste by developing shared control architectures allowing a human operator to easily manipulate the objects of interest. The thesis proposes several shared-control architectures for dual-arm manipulation with different operator/autonomy balance depending on the task at hand. While most of the approaches provide an instantaneous interface, we also propose architectures which automatically account for the pre-grasp and post-grasp trajectories allowing the operator to focus only on the task at hand (ex., grasping). The thesis also proposes a shared control architecture for controlling a force-controlled humanoid robot in which the user is informed about the stability of the humanoid through haptic feedback. A new balancing algorithm allowing for the optimal control of the humanoid under high interaction forces is also proposed.
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https://tel.archives-ouvertes.fr/tel-02418608
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Submitted on : Thursday, December 19, 2019 - 1:04:44 AM
Last modification on : Wednesday, September 9, 2020 - 4:02:33 AM
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  • HAL Id : tel-02418608, version 1

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Firas Abi-Farraj. Contributions to shared control architectures for advanced telemanipulation. Robotics [cs.RO]. Université Rennes 1, 2018. English. ⟨NNT : 2018REN1S120⟩. ⟨tel-02418608⟩

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