Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

被引:0
|
作者
Xin, Guiyang [1 ]
Tiseo, Carlo [1 ]
Wolfslag, Wouter [1 ]
Smith, Joshua [1 ]
Cebe, Oguzhan [1 ]
Li, Zhibin [1 ]
Vijayakumar, Sethu [1 ]
Mistry, Michael [1 ]
机构
[1] Univ Edinburgh, Sch Informat, Inst Percept Act & Behav, Edinburgh, Midlothian, Scotland
关键词
INVERSE-DYNAMICS; UNIFIED APPROACH; FORCE CONTROL; SUBJECT; MOTION;
D O I
10.1109/case48305.2020.9216813
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we propose a comprehensive control framework for inspection and intervention using a legged robot and validate the integration of multiple locomanipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical wholebody control, which is the key to the various task completion subject to internal and external constraints. We demonstrate the versatility of the whole-body control in terms of decoupling tasks, singularity tolerance and constraint satisfaction. We deploy our solution in field trials and evaluate in an emergency setting by an E-stop while the robot is clearing road barriers and traversing difficult terrains.
引用
收藏
页码:1415 / 1420
页数:6
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