Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Martín-Barrio, Andrés; Roldán‐Gómez, Juan Jesús; Rodríguez, Iván; Cerro, Jaime del; Barrientos, Antonio

doi:10.3390/s20082181

Cited by 26 publications

(12 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some works like [ 41 ] focus on setting target positions for the robot and using an off-line phase for planning and executing movements asynchronously.…”

Section: Experiments and Resultsmentioning

confidence: 99%

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

Ulloa

Domínguez

Cerro

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.

show abstract

“…Some works like [ 41 ] focus on setting target positions for the robot and using an off-line phase for planning and executing movements asynchronously.…”

Section: Experiments and Resultsmentioning

confidence: 99%

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

Ulloa

Domínguez

Cerro

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Moreover, the inverse kinematics management, pose awareness and control or understanding of the arm's movement may be possible only for highly experienced operators. Therefore, as presented in [11], the use of Mixed Reality could greatly improve the efficiency of teleoperation and provide more intuitive and immersive control methods. The inverse kinematics problem may not be solvable with standard techniques, therefore alternative methods could be used specifically for redundant arms, such as the Forward And Backward Reaching Inverse Kinematics (FABRIK) heuristic method introduced in [12].…”

Section: B Mixed Reality Interfaces For Teleroboticsmentioning

confidence: 99%

Mixed Reality Human–Robot Interface With Adaptive Communications Congestion Control for the Teleoperation of Mobile Redundant Manipulators in Hazardous Environments

et al. 2022

View full text Add to dashboard Cite

Robotic interventions with redundant mobile manipulators pose a challenge for telerobotics in hazardous environments, such as underwater, underground, nuclear facilities, particle accelerators, aerial or space. Communication issues can lead to critical consequences, such as imprecise manipulation resulting in collisions, breakdowns and mission failures. The research presented in this paper was driven by the needs of a real robotic intervention scenario in the Large Hadron Collider (LHC) at the European Organization for Nuclear Research (CERN). The goal of the work was to develop a framework for network optimisation in order to help facilitate Mixed Reality techniques such as 3D collision detection and avoidance, trajectories planning, real-time control, and automatized target approach. The teleoperator was provided with immersive interactions while preserving precise positioning of the robot. These techniques had to be adapted to delays, bandwidth limitation and their volatility in the 4G shared network of the real underground particle accelerator environment. The novel application-layer congestion control with automatic settings was applied for video and point cloud feedback. Twelve automatic setting modes were proposed with algorithms based on the camera frame rate, resolution, point cloud subsampling, network round-trip time and throughput to bandwidth ratio. Each mode was thoroughly characterized to present its specific use-case scenarios and the improvements it brings to the adaptive camera feedback control in teleoperation. Finally, the framework was presented according to which designers can optimize their Human-Robot Interfaces and sensor feedback depending on the network characteristics and task.

show abstract

“…The robot can be used for cutting, welding, grasping, or fastening operations [ 6 ]. More recently, Martín-Barrio et al [ 7 ] designed a discrete joint-based hyper-redundant cable-actuated robot with 7 modules serially connected for a total of 14-DoF to be used for inspection tasks in constrained environments. Shape sensing, kinematic control and remote operation in an immersive reality were the main challenges reported by the authors.…”

Section: Introductionmentioning

confidence: 99%

Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network

Lapusan

Hancu

Rad

2022

Sensors

View full text Add to dashboard Cite

The paper proposes a novel approach for shape sensing of hyper-redundant robots based on an AHRS IMU sensor network embedded into the structure of the robot. The proposed approach uses the data from the sensor network to directly calculate the kinematic parameters of the robot in modules operational space reducing thus the computational time and facilitating implementation of advanced real-time feedback system for shape sensing. In the paper the method is applied for shape sensing and pose estimation of an articulated joint-based hyper-redundant robot with identical 2-DoF modules serially connected. Using a testing method based on HIL techniques the authors validate the computed kinematic model and the computed shape of the robot prototype. A second testing method is used to validate the end effector pose using an external sensory system. The experimental results obtained demonstrate the feasibility of using this type of sensor network and the effectiveness of the proposed shape sensing approach for hyper-redundant robots.

show abstract

Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Cited by 26 publications

References 32 publications

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

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

Mixed Reality Human–Robot Interface With Adaptive Communications Congestion Control for the Teleoperation of Mobile Redundant Manipulators in Hazardous Environments

Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network

Contact Info

Product

Resources

About