Teleoperated Omni-Directional Dual Arm Mobile Manipulation Robotic System With Shared Control for Retail Store
🤖 AI Summary
This work proposes a retail-oriented omnidirectional dual-arm mobile manipulation system designed to address the limited adaptability of autonomous mobile robots in dynamic retail environments, where new products and scenarios frequently emerge. The system integrates an omnidirectional mobile base, dual-arm cooperative control, and virtual reality (VR)-based motion capture, enabling both single-arm and bimanual manipulation. It employs heterogeneous end-effectors and combines VR teleoperation with a human–robot shared control strategy to enhance versatile grasping capabilities across a wide range of consumer goods. Experimental validation in a simulated retail setting demonstrates the system’s ability to efficiently and flexibly handle diverse everyday items, significantly improving its practicality and adaptability in real-world retail applications.
Application Category
📝 Abstract
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter challenges in adapting to the dynamic nature of retail products, often struggling to operate autonomously in novel situations. In this study, we introduce an omni-directional dual-arm mobile robot specifically tailored for use in retail environments. Additionally, we propose a tele-operation method that enables shared control between the robot and a human operator. This approach utilizes a Virtual Reality (VR) motion capture system to capture the operator's commands, which are then transmitted to the robot located remotely in a retail setting. Furthermore, the robot is equipped with heterogeneous grippers on both manipulators, facilitating the handling of a wide range of items. We validate the efficacy of the proposed system through testing in a mockup of retail environment, demonstrating its ability to manipulate various commonly encountered retail items using both single and dual-arm coordinated manipulation techniques.
Problem
Research questions and friction points this paper is trying to address.
retail robotics
autonomous manipulation
dynamic environments
teleoperation
mobile manipulation
Innovation
Methods, ideas, or system contributions that make the work stand out.
shared control
teleoperation
dual-arm manipulation
omni-directional mobile robot
VR motion capture
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