TY - GEN
T1 - A Hybrid Workspace Mapping Method Based on Force Feedback for Underwater Teleoperation Systems
AU - Yang, Xubo
AU - Gao, Jian
AU - Zhang, Haozhe
AU - Chen, Yimin
AU - Guo, Jingwei
AU - Su, Sijia
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - Underwater robot teleoperation plays a crucial role in underwater tasks, but underwater teleoperation systems often employ master-slave heterogeneous structures, which undoubtedly introduces more difficulties and challenges for workspace and operation precision. In light of this, this paper proposes a force-feedback-based hybrid workspace mapping method applicable to underwater teleoperation systems. First, we design a force-feedback-based hybrid workspace mapping method and conduct various simulation tests and analyses. The results demonstrate that the method can effectively enhance the spatial breadth and operational accuracy of teleoperation. Subsequently, we construct an underwater teleoperation digital twin platform to implement underwater target grasping tasks, which yield satisfactory results. Moreover, the digital twin platform established in this paper can better mitigate the effects of communication latency and underwater environmental interference on operations, making it more conducive to the implementation of underwater teleoperation tasks and reducing the burden on operators.
AB - Underwater robot teleoperation plays a crucial role in underwater tasks, but underwater teleoperation systems often employ master-slave heterogeneous structures, which undoubtedly introduces more difficulties and challenges for workspace and operation precision. In light of this, this paper proposes a force-feedback-based hybrid workspace mapping method applicable to underwater teleoperation systems. First, we design a force-feedback-based hybrid workspace mapping method and conduct various simulation tests and analyses. The results demonstrate that the method can effectively enhance the spatial breadth and operational accuracy of teleoperation. Subsequently, we construct an underwater teleoperation digital twin platform to implement underwater target grasping tasks, which yield satisfactory results. Moreover, the digital twin platform established in this paper can better mitigate the effects of communication latency and underwater environmental interference on operations, making it more conducive to the implementation of underwater teleoperation tasks and reducing the burden on operators.
KW - Digital twin
KW - Force feedback
KW - Master-slave heterogeneity
KW - Underwater teleoperation
UR - https://www.scopus.com/pages/publications/85175998980
U2 - 10.1007/978-981-99-6498-7_28
DO - 10.1007/978-981-99-6498-7_28
M3 - 会议稿件
AN - SCOPUS:85175998980
SN - 9789819964970
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 317
EP - 328
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -