How to teleoperate robotic manipulators in real-time

Innovative teleoperation system for real-time robot control

Imitation learning presents a viable approach for instructing robots to consistently perform routine tasks, such as dishwashing and cooking. However, the efficacy of these frameworks hinges on comprehensive human demonstrations, encompassing data that enable the replication of precise movements by robotic system.

One approach to obtaining these demonstrations is through teleoperated system, where humans control robotic manipulators to execute designated task. Despite their potential, manyh current teleoperation systems struggle to accurately process and replicate the sophisticated, coordinated movements characteristic of human performace.

Researchers at the University of California, San Diego have unveiled Bunny-VisionPro, a novel system enabling the teleoperation of robotic systems for bimanual dexterous manipulation tasks. Presented in a recent paper on the arXiv preprint server, this system aims to streamline the process of gathering human demonstrations for imitation learning.

According to co-author Xiaolong Wang, "Our latest paper was driven by the imperative to enhance bimanual dexterous teleoperation in robotics," he shared with Tech Xplore.

"We observed that current vision-based teleoperation systems seldom emphasize dual-hand control, which is essential for intricate tasks demanding had coordination."

Wang and his colleagues focused their latest research on developing a universal teleoperation system that could effectively generalize across diverse robots and tasks, significantly simplifying the acquisition of demonstrations for robotic control algorithm training.

Their developed system, Bunny-VisionPro, has the potential to render teleoperation and demonstration data collection as intuitive and immersive as a VR gaming experience.

"According to Wang, Bunny-VisionPro, is a pioneering bimanual dexterous teleoperation system enabling human operators to mange dual robot arms and multi-fingered hands in real-time, thereby enhancing the quality of demonstrations collected for imitation learning."

The team's system enables teleoperation of a portable and lightweight device, enhancing user interaction with visual and haptic feedback for a fully immersive experience.

The Bunny-VisionPro system has shown in initial testing its capability to safely control robotic manipulators in real-time with minimal latency, effectively avoiding collisions with nearby obstacles. its straightforward installation and deployment in laboratory setups make it an ideal choice for gathering demonstrations in robotics laboratories.

The Bunny-VisionPro system comprises three essential modules: an arm motion control module, a hand and motion retargeting module, and a haptic feedback module.

"According to Wang, Bunny-VisionPro's arm motion control module excels in translating human wrist poses to the robot's end-effector poses, overcoming challenges such as singularities and collision prevention. The hand and motion retargeting module extends this capability to accurately map human hand poses, including intricate loop-joint structures, to corresponding robot hand configurations. Finally, the haptic feedback module enchances user immersion by converting robot tactile sensing into human-perceptible haptic feedback, leveraging sophisticated algorithmic and hardware designs."

The new teleoperation system devised by Wang and his colleagues excels in enabling real-time, safe control of bimanual robotic systems. Setting it apart from previous solutions, this system seamlessly integrates both haptic and visual feedback, enhancing the immersive experience for human operators during demonstration collection and significantly boosting teleoperation success rates.

"Our developed real-time bimanual dexterous teleoperation system strike a crucial balace between safety and performance," Wang emphasized. "It empowers precise control over robotic arms and multi-figered hands with minimal latency, seamlessly integrating collision avoidance and sigularity handling. This capability is pivotal for ensuring reliable operation across diverse real-world robotic applications."

The advancements led by Wang and his team promise to streamline teleoperation for gathering demonstrations in imitation learning frameworks. Looking ahead, Bunny-VisionPro has the potential for global adoption in robotics labs and could serve as a catalyst for the creation of comparable immersive teleoperation systems.

"In forthcoming studies, our aim is to augment manipulation capabilities through the integration of tactile data, enhancing precision and adaptability," Wang explained. "Moreover, our system's open-source code is readily available for access on GitHub.

Further details: The paper authored by Runyu Ding and colleagues, "Bunny-VisionPro: Real-time Bimanual Dexterous Teleoperation for limitation Learning," is available on arXiv (2024). DOI: 10.48550/arxiv.2407.03162

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