A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

Ulloa, Christyan Cruz; Domínguez, David; Cerro, Jaime del; Barrientos, Antonio

doi:10.3390/s22218146

Cited by 13 publications

(4 citation statements)

References 40 publications

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“…Unlike virtual reality (VR) which generates representations of the physical world, AR, mainly focusing on collaborative robotics, allows to superimpose digital information on elements of the physical world. Mixed reality (MR) involves a combination of VR and AR [15][16][17]. MR technology has been used in different applications in robotics.…”

Section: Of 16mentioning

confidence: 99%

Scalability of Cyber-Physical Systems in Mixed Reality Experiences in ROS 2

Mañas-Álvarez¹,

Guinaldo²,

Dormido³

et al. 2023

Preprint

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Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system's performance when the number of agents increases. To this end, two different mixed reality frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots being the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV those used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real-time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in mixed reality experiences regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

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Section: Of 16mentioning

confidence: 99%

Scalability of Cyber-Physical Systems in Mixed Reality Experiences in ROS 2

Mañas-Álvarez¹,

Guinaldo²,

Dormido³

et al. 2023

Preprint

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“…Robots are increasingly being used for rescue operations to improve work flexibility and expand the range of operations. Over the past decades, different types of rescue robots have been developed, such as snake-shaped search and rescue robots [1][2][3], bionic crawling search and rescue robots [4,5], wheel-footed robots with enhanced obstacle-crossing capabilities [6][7][8], aircraft-based rescue robots [9,10], rope-assisted climbing robots for applications in mountainous environments [11], and deformable robots for water rescue [12]. However, few of these robots have significant excavation and handling capabilities.…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Zhong,

Jiang,

Zhang

et al. 2023

Actuators

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The current reliance on manual rescue is inefficient, and lightweight, highly flexible, and intelligent robots need to be investigated. Global seismic disasters occur often, and rescue jobs are defined by tight timetables and high functional and intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation of the robotic arm in various positions, the common digging and handling conditions of the robotic arm are dynamically simulated in ADAMS. A finite element analysis is then performed for the dangerous force situation to confirm the structural strength of the robotic arm. The hydraulic manipulator prototype is manufactured, and stress–strain experiments are conducted on the robotic arm to verify the finite element simulation’s reliability.

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“…Unlike virtual reality (VR), which generates representations of the physical world, AR, mainly focusing on collaborative robotics, allows us to superimpose digital information on elements of the physical world. Mixed reality (MR) involves a combination of VR and AR [15][16][17]. An MR based system interacts and manipulates both physical and digital elements and environments by a completely bidirectional communication [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2

Mañas-Álvarez

Guinaldo

Dormido

et al. 2023

Sensors

View full text Add to dashboard Cite

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system’s performance when the number of agents increases. To this end, two different frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots, such as the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in experiences with real and virtual robots regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

show abstract

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

Cited by 13 publications

References 40 publications

Scalability of Cyber-Physical Systems in Mixed Reality Experiences in ROS 2

Scalability of Cyber-Physical Systems in Mixed Reality Experiences in ROS 2

Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2

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