Simulation of a Tele-operated Task under Human-Robot Shared Control

Abstract

This poster presents simulation of a tele-operated shared controlled robot task that is integrated with a generic simulator of RADOE (Robot Application Development and Operating Environment). A customized and extendable Rviz interface plugin is designed and applied to import models, do simulation, enable real robot operation, and communicate with other projects by clicking related buttons. In the simulation process, the robot model in the simulator is controlled and visualized by human operator using an Omega 7 haptic device and automatic method, i.e., the shared control. After the simulation is conducted and satisfied, the system will send back a signal to the real robot system to execute the operation task; otherwise, simulation of the shared control process will be continued until satisfaction. We provide a simulation of a drawing task on the surface of a sphere.