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Article

A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks

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Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore
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School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
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Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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NUS (Suzhou) Research Institute (NUSRI), Suzhou 215123, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(6), 2086; https://doi.org/10.3390/app10062086
Received: 7 February 2020 / Revised: 9 March 2020 / Accepted: 16 March 2020 / Published: 19 March 2020
(This article belongs to the Section Mechanical Engineering)
Bimanual telemanipulation is vital for facilitating robots to complete complex and dexterous tasks that involve two handheld objects under teleoperation scenarios. However, the bimanual configuration introduces higher complexity, dynamics, and uncertainty, especially in those uncontrolled and unstructured environments, which require more advanced system integration. This paper presents a bimanual robotic teleoperation architecture with modular anthropomorphic hybrid grippers for the purpose of improving the telemanipulation capability under unstructured environments. Generally, there are two teleoperated subsystems within this architecture. The first one is the Leap Motion Controller and the anthropomorphic hybrid robotic grippers. Two 3D printed anthropomorphic hybrid robotic grippers with modular joints and soft layer augmentations are designed, fabricated, and equipped for telemanipulation tasks. A Leap Motion Controller is used to track the motion of two human hands, while each hand is utilized to teleoperate one robotic gripper. The second one is the haptic devices and the robotic arms. Two haptic devices are adopted as the master devices while each of them takes responsibility for one arm control. Based on such a framework, an average RMSE (root-mean-square-error) value of 0.0204 rad is obtained in joint tracking. Nine sign-language demonstrations and twelve object grasping tasks were conducted with the robotic gripper teleoperation. A challenging bimanual manipulation task for an object with 5.2 kg was well addressed using the integrated teleoperation system. Experimental results show that the proposed bimanual teleoperation system can effectively handle typical manipulation tasks, with excellent adaptabilities for a wide range of shapes, sizes, and weights, as well as grasping modes.
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Keywords: robotic teleoperation; bimanual manipulation; anthropomorphic hybrid gripper; modular design robotic teleoperation; bimanual manipulation; anthropomorphic hybrid gripper; modular design
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MDPI and ACS Style

Zhu, G.; Xiao, X.; Li, C.; Ma, J.; Ponraj, G.; Prituja, A.V.; Ren, H. A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks. Appl. Sci. 2020, 10, 2086. https://doi.org/10.3390/app10062086

AMA Style

Zhu G, Xiao X, Li C, Ma J, Ponraj G, Prituja AV, Ren H. A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks. Applied Sciences. 2020; 10(6):2086. https://doi.org/10.3390/app10062086

Chicago/Turabian Style

Zhu, Guoniu, Xiao Xiao, Changsheng Li, Jin Ma, Godwin Ponraj, A. V. Prituja, and Hongliang Ren. 2020. "A Bimanual Robotic Teleoperation Architecture with Anthropomorphic Hybrid Grippers for Unstructured Manipulation Tasks" Applied Sciences 10, no. 6: 2086. https://doi.org/10.3390/app10062086

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