Laser Assisted Combined Teleoperation and Autonomous Control

Document Type

Conference Proceeding

Publication Date



human robot interaction, sensor, teleoperation, telerobotics


In this paper we demonstrate combined human teleoperation and autonomous control of a remote manipulator in an unstructured environment to enable people with limited upper body strength to carry out a remote task. Range data from a laser sensor mounted on the end-effector of a remote manipulator is used by the user to select via-points in teleoperation. This information enables autonomous execution of trajectories. The human user is primarily involved in higher level decision making; the user performs minimal teleoperation by selecting critical points using a laser. In the event the sensor or human detects an unexpected obstacle during autonomous trajectory execution, the controller terminates the trajectory so that the human can teleoperate the end-effector safely around the obstacle. Once the obstacle has been averted, the system resumes the control and guides the manipulator autonomously to the target. Tests on healthy human subjects on a pick-and-place task involving multiple objects showed that this combined teleoperation and autonomous methodology using minimal sensory data made it physically and cognitively easier for the user to execute the task.

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Citation / Publisher Attribution

13th Robotics & Remote Systems for Hazardous Environments, p. 869-879