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Imitative Robotic Control: The Puppet Master
D. Rusbarsky, J.P. Gray, J. Grebinoski, A.B. Mor
JEREMY P. GRAY
US. ARMY TARDEC, GVR
22 August 2014
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Statement A. Approved for public release
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Introduction
• Current manipulation paradigm
– US Army robotic assets are comprised of one manipulator per
platform
– Manipulation control requires two hands and operators full
attentiveness
– Joint-by-joint control/operation
• Cons with current paradigm
– Unable to mimic human operations within complex and
dexterous operations, i.e. platforms require two manipulators
– Operator fatigue, timely operations
– Requires higher level of operator skill
– Unable to adapt to more complex operations
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Imitative Controller (IC)
• Features
– Extremely intuitive – novice users
become expert operators within minutes.
– Common joint modules – joint
configuration and scale are configured at
production to match the target
manipulation system.
– Spring-biased to a “natural”
resting pose.
– USB interface
– Gripper control.
– Compatible with:
A scale model of the HDMS that
commands the manipulator to mimic
the operator’s exact motions.
• AEODRS JAUS
• US Army IOP.
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Imitative Controller (IC)
• Innovation & Enabling Technologies
–
–
–
–
Common joint sensor design.
Light-weight link elements.
Extra buttons/switches for additional functionality
Easily configured for a specific target manipulator.
• Easy stowage, transportability
– Quick to setup/break-down
– Stores in pelican case
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Gripper Control
• Natural hand-grip for Warfighters
• Gripper can provide haptic feedback
• Dead-man grip
Gripper control
(inspired by RC slot
car controllers)
Additional input buttons:
• PTZ camera
• Ground vehicle control
• Other platform payloads
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Gripper Cont’d
Linear Actuator
Interface
to arm
Continuous
wrist roll switch
Force feedback
trigger
Trigger
hold button
Programmable
buttons and enable
switch to activate/
deactivate control
22 August 2014
Handle for
comfortable grip
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Puppet Master
• IC developed through Phase II SBIR, currently building
third prototype, 7 DOF
• Operators focus on the task being performed over the
operational control
• IC provides a highly intuitive method for controlling highly
dexterous dual-arm manipulation systems
• Replicates manipulator system
• Flying the end-effector
• Very quick operations
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Comparative Testing
• Test performed with RE2 Highly
Dexterous Manipulation System
• IC was consistently 2-3x faster than
previously tested systems
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Comparison of Alternate
Approaches
Visual
tracking
Control Device
Imitative
Visual tracking
Control
sleeves/gloves
Voice
3D mice
Visual
with
fiducials
Gloves
Simultaneous
Control of high
dual-arm control dexterity arms
Yes
Unlimited, using
scaled version of
actual arms
Yes
Cannot represent
arm configurations
different from
human
Yes
Cannot represent
arm configurations
different from
human
No
Difficult to control
DOF other than endeffector
Yes
Difficult to control
DOF other than endeffector
Handheld Voice
devices
commands
Interference
with operator
Minimal
Reliability
Low, sunlight can
overwhelm
sensors
May require
Requires
special
additional
gloves/sleeves equipment
Computing and
camera(s)
increase size
Significant
calibration
Matches
workspace of
manipulator
Unreliable
position control
Requires
special gloves
Small
Minimal
Matches
workspace of
manipulator
Yes, must use
velocity/torque
control for larger
workspace
Low, especially in
high ambient
noise situation
Unreliable
position control
when in
vel./torque mode
May require ear- Requires
piece
additional
microphones
equipment
Minimal
Direct
Small
Significant
calibration
Many companies are focusing here
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Force feedback
Imitative
Limited work
space
Matches
workspace of
manipulator
Dictated by camera
field of view
Other markets already use this
Highapproach!
And it works well!
22 August 2014
3D
mouse
Direct
Vibration-based
Size for
Set-up
Dismounted Ops
Can stow into
Minimal
compact form
Bulky, especially Minimal
for two arms.
Does not easily
stow
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Thank You
Questions?
Disclaimer: Reference herein to any specific commercial company, product, process, or service by trade name,
trademark, manufacturer, or otherwise, does not necessarily constitute or imply its endorsement, recommendation, or
favoring by the United States Government or the Department of the Army (DoA). The opinions of the authors expressed
herein do not necessarily state or reflect those of the United States Government or the DoA, and shall not be used for
advertising or product endorsement purposes.
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HDMS
The next generation dual-arm,
high dexterity (16 DOF)
manipulation system for midto large-size mobile robot
platforms.
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