An efficient grasping shared control architecture for unpredictable and unspecified tasks

Abstract

Robot control in complex and unpredictable scenarios presents challenges such as adaptability, robustness, and human-robot interaction. These scenarios often require robots to perform tasks that involve unknown objects in unstructured environments with high levels of uncertainty. Traditional control methods, such as automatic control, may not be suitable due to their limited adaptability and reliance on prior knowledge. Human-in-the-loop method faces issues such as insufficient feedback, increased failure rates due to noise and delays, and lack of operator immersion, preventing the achievement of human-level performance. This study proposed a shared control framework to achieve a trade-off between efficiency and adaptability by combing the advantages of both teleoperation and automatic control method. The proposed approach combines the advantages of both human and automatic control methods to achieve a balance between performance and adaptability. We developed a linear model to compare three control methods and analyzed the impact of position noise and communication delays on performance. The real-world implementation of the shared control system demonstrates its effectiveness in object grasping and manipulation tasks. The results suggest that shared control can significantly improve grasping efficiency while maintaining adaptability in task execution for practical robotics applications.