← 研踪 PaperTrailarXiv:2611.14062 · v1
A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
首次提交 2026-11-10 21:27
版本更新 2026-11-10 21:27
雷达观测 2026-11-11 11:04
摘要
Construction tasks in hazardous and unstructured environments require both human adaptability and robotic precision, yet existing approaches often treat teleoperation and autonomy as separate control modes. This paper presents a human-in-the-loop control paradigm that enables structured transitions among VR-guided teleoperation, semi-autonomous shared control, and rule-based autonomous execution for contact-rich dual-arm construction tasks. The proposed system combines immersive VR guidance, a manually defined library of reusable skill primitives, and a shared-autonomy framework with explicit human-robot role allocation and command-priority rules. This integration allows operators to retain supervisory and corrective authority while delegating repetitive and precision-critical actions to the robot. The paradigm is validated on a dual-arm platform through representative facade-installation tasks. Results show that autonomous execution provides the best performance under well-calibrated nominal conditions, whereas semi-autonomous control improves resilience when environmental disturbances exceed the predefined autonomous pipeline's correction capability. Semi-autonomous control also substantially reduces subjective operator workload compared with full teleoperation. These findings demonstrate that effective construction-robot control should adapt human involvement to task and environmental uncertainty, using autonomy for repeatable operations and shared control for disturbance recovery.
作者备注：under review
观测到的版本
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v1 · 2026-11-10 21:27 · 最新观测版本
A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
Construction tasks in hazardous and unstructured environments require both human adaptability and robotic precision, yet existing approaches often treat teleoperation and autonomy as separate control modes. This paper presents a human-in-the-loop control paradigm that enables structured transitions among VR-guided teleoperation, semi-autonomous shared control, and rule-based autonomous execution for contact-rich dual-arm construction tasks. The proposed system combines immersive VR guidance, a manually defined library of reusable skill primitives, and a shared-autonomy framework with explicit human-robot role allocation and command-priority rules. This integration allows operators to retain supervisory and corrective authority while delegating repetitive and precision-critical actions to the robot. The paradigm is validated on a dual-arm platform through representative facade-installation tasks. Results show that autonomous execution provides the best performance under well-calibrated nominal conditions, whereas semi-autonomous control improves resilience when environmental disturbances exceed the predefined autonomous pipeline's correction capability. Semi-autonomous control also substantially reduces subjective operator workload compared with full teleoperation. These findings demonstrate that effective construction-robot control should adapt human involvement to task and environmental uncertainty, using autonomy for repeatable operations and shared control for disturbance recovery.
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