A multi-robot cooperation strategy for dexterous task oriented teleoperation

• A Multi-Robot cooperative platform, MRCP, is presented.
• MRCP is based on the task-oriented teleoperation.
• The system is composed of several robots working cooperatively as a unique robot.
• MRCP automatically selects the most suitable robot to continue with the teleoperation.
• Several tests are presented validating the operativity in diverse scenarios.

The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of teleoperated systems by means of the automatic cooperation of multiple slave robots which, controlled by a human operator, act as if they were a unique robot: a Multi-Robot Cooperation Platform for Task-Oriented Teleoperation, MRCP. From the human operator commands, this robotic platform, the MRCP, dynamically selects the most suitable slave robot and manages, when necessary, a task transfer from one robot to another in order to achieve a smooth execution of teleoperated tasks.The result of the proposed methodology is an improved teleoperated system in terms of reachable workspace (volume, manoeuvrability and accessibility) and dexterity, thus widening its range of applicability. This approach allows human operators to focus their attention on the ongoing task more than on the teleoperated robots.