A Safe Shared-Control Framework for Dual-Arm Collaborative Telemanipulation

This paper proposed a novel safe shared-control framework to enhance stability, safety and intuitiveness during dual-arm collaborative telemanipulation. The framework integrates motion coordination, internal force control, and obstacle avoidance. Firstly, the key design is a variable admittance controller that bridges high-level human commands and low-level robotic motion, simplifying the operator's task to primarily focus on generating object motion. Additionally, a dual-arm force/pose coordination strategy is proposed based on a compliant dynamical system to enable stable object gripping under unilateral constraints. Finally, a whole-body obstacle avoidance strategy is introduced for the dual-arm kinematic chain to ensure safe object transportation. The effectiveness of the method is validated on a dual-arm robot system. Experimental results show that our approach facilitates easy and effective object telemanipulation via the dual-arm robot system, in which a stable dual-arm grasp and obstacle avoidance are guaranteed.