Exploiting Task Tolerances in Mimicry-Based Telemanipulation
Yeping Wang,Carter Sifferman,Michael Gleicher,Yeping Wang,Carter Sifferman,Michael Gleicher
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions; however, in teleoperation, this flexibility may make the user's control less direct. In this work, we implemented a telema-nipulation system that allows a robot...
