Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control

• URL: http://arxiv.org/abs/2604.06932v1
• Date: Wed, 08 Apr 2026 10:43:34 GMT
• Title: Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control
• Abstract summary: Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control.<n>We propose a shared teleoperation framework where humans and robots share positioning control, while the robot autonomously manages orientation to satisfy dynamic constraints.
• Score: 10.537871858773375
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We propose a shared teleoperation framework where humans and robots share positioning control, while the robot autonomously manages orientation to satisfy dynamic constraints. Key contributions include: 1) A theoretical dynamic constraint analysis utilizing a novel virtual object (VO)-based method to simplify constraints for trajectory planning. 2) An MPC-based trajectory smoothing algorithm that enforces real-time constraints and coordinates user tracking with orientation control. 3) Validations demonstrating stable manipulation of nine objects at accelerations up to 2.4 m/s2. Compared to the baseline, our approach reduces sliding distance by 72.45% and eliminates tip-overs (0% vs. 13.9%), proving robust adaptability in complex scenarios.

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