A novel shared teleoperation control approach for nonprehensile object transportation based on orientation feedforward smoothing

Abstract

Nonprehensile transportation represents a fundamental approach in robotic manipulation widely implemented in practical applications, where object dynamics constraints must be strictly maintained. However, existing approaches have certain limitations in operational reliability and control performance, particularly regarding execution efficiency and input adaptation. To address these limitations, we propose a novel shared teleoperation method for nonprehensile object transportation. The method reformulates constraints from object dynamics to robot kinematics level, eliminating the need for direct contact force control. It achieves autonomous orientation control through orientation feedforward smoothing while enabling shared position control based on user teleoperation inputs. Additionally, the coordination between position and attitude is ensured through input command optimization. The effectiveness of this method was evaluated through extensive trajectory tracking simulations and human subject experiments. The results demonstrate superiority over existing methods regarding operational safety, task efficiency, tracking accuracy, and input command adaptability.

Graphical abstract

Keywords

nonprehensile transportation / teleoperation / shared control / orientation feedforward smoothing

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Higher Education Press