A task-space weighting matrix approach to semi-autonomous teleoperation control

A semi-autonomous control strategy is proposed for teleoperation of a mobile base and/or a twin-arm robotic manipulator for use when conventional teleoperation is inadequate. The approach employs idempotent and generalized pseudoinverse matrices to augment operator(s) control with some level of assistance/autonomy. An application specific task-space weighting matrix is introduced to adjust the relative weight of autonomous control with respect to human-centered teleoperation control. The task-space weighting matrix allows for a smooth continuous transition from completely autonomous to shared control, and to completely human teleoperated control. Experiments with a twin-armed mobile slave robot demonstrate the feasibility and basic functionality of the controller.