cs.ROFeb 27, 2026

Teleoperated Omni-directional Dual Arm Mobile Manipulation Robotic System with Shared Control for Retail Store

Authors: Rolif Lima, Somdeb Saha, Nijil George, Vismay Vakharia, Shubham Parab, Sahil Gaonkar, Vighnesh Vatsal, Kaushik Das

Organizations: The authors are with TCS Research, Tata Consultancy Services Ltd., Bengaluru, Karnataka - 560066, India.

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Abstract

The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter challenges in adapting to the dynamic nature of retail products, often struggling to operate autonomously in novel situations. In this study, we introduce an omni-directional dual-arm mobile robot specifically tailored for use in retail environments. Additionally, we propose a tele-operation method that enables shared control between the robot and a human operator. This approach utilizes a Virtual Reality (VR) motion capture system to capture the operator's commands, which are then transmitted to the robot located remotely in a retail setting. Furthermore, the robot is equipped with heterogeneous grippers on both manipulators, facilitating the handling of a wide range of items. We validate the efficacy of the proposed system through testing in a mockup of retail environment, demonstrating its ability to manipulate various commonly encountered retail items using both single and dual-arm coordinated manipulation techniques.

Figures & tables

Fig. 1 : (Left) Operator wearing head-mounted display and carrying two controllers. (Right) GriffinX: An in-house built omni-directional mobile robot with a dual-arm collaborative manipulators
Fig. 2 : System architecture
Fig. 3 : CAD model and the 3D printer Gripper
Fig. 4 : Schematic Diagram of 4-Mecanum Wheel Omni-directional Drive
Fig. 5 : CAD model of mock retail store
Fig. 6 : Snapshots of soft gripper approaching the item in shelf: (a) Start position (b) Approach position (c) Gripping Position (d) Lifting position
Fig. 7 : Operators and robots trajectory while grasping soft items
Fig. 8 : Snapshots of RG2 gripper approaching the item in shelf: (a) Start position (b) Approach position (c) Gripping Position (d) Lifting position
Fig. 9 : Operators and robots trajectory while grasping soft items
Figure 10
Fig. 11 : Snapshots of dual arm operation while grabbing long item in shelf: (a) Start position (b) Approach position (c) Gripping Position (d) Lifting position
Fig. 12 : Operator’s left commanded and corresponding left end-effector’s trajectory while performing dual arm coordinated manipulation
Fig. 13 : Operator’s right commanded and corresponding right end-effector’s trajectory while performing dual arm coordinated manipulation
Fig. 14 : Distance between the two end-effectors while performing dual arm coordinated manipulation
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