REMODEL. WP5. Cable Manipulation Planning Execution And Interactive Perception. T5_2. Cable Grasping. Shared Control Cable Grasping. v0

The dataset contains the user test data obtained during the shared control manipulation of cable and wires carried out in the framework of Horizon 2020 REMODEL project. Specifically, the experiments were focused on testing a novel teleoperation framework in which an intuitive manipulation of deformable linear objects (DLOs) is achieved by means of visual aid. The developed system alternates between two main control modes: free teleoperation and cable targeting modes. In free teleoperation mode the remote manipulator’s behavior is directly controlled through the operator’s motions. The operator is able to freely move the robot in different workspace areas and interact with the environment. In cable targeting mode, the system performs a scan of the environment to search for existing cables and docks the robot to the most likely target (nearest DLO detected). The data were obtained performing 10 user tests, comparing the manipulation of DLOs with and without the cable target mode in addition to the free teleoperation mode (always available).
The results of these experiments are described in:
D. Chiaravalli, A. Caporali, A. Friz, R. Meattini and G. Palli, "A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation," 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, WA, USA, 2023, pp. 733-738, doi: 10.1109/AIM46323.2023.10196145.