Robotics for Seabed Teleoperation: Part-1–Conception and Practical Implementation of a Hybrid Seabed Robot

Saltarén, Roque; Rodriguez-Barroso, Alejandro; Yakrangi, Oz

doi:10.1109/access.2018.2876040

Cited by 15 publications

(13 citation statements)

References 21 publications

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“…Teleoperation has been widely adopted in various research fields such as telehealth [7], [8], telemaintenance [9], [10], micromanipulation [11], and disaster response [12], [13]. These researches can be theoretically analyzed [14]- [16] or focused on demonstration of system [17], [18]. To help users experience realism and immersion in a disconnected space, studies have been conducted to enhance telepresence during teleoperation [19].…”

Section: Introductionmentioning

confidence: 99%

Thermal Feedback System From Robot Hand for Telepresence

et al. 2021

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Section: Introductionmentioning

confidence: 99%

Thermal Feedback System From Robot Hand for Telepresence

et al. 2021

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“…Concerning static walking, which is based on a centre of mass that is within the support polygon, you can see three important developments for underwater environments: (1) a six-legged underwater robot proposed by the researchers Junichi et al [5]; (2) the Crabster CR200 robot, also with six legs, but with a more hydrodynamic structure [6,7,8]; and (3) a quadruped, humanoid robot proposed by researchers Roque Saltarén et al [9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Walking of a Legged Robot in Underwater Environments

Portilla

Saltarén

Espinosa

et al. 2019

Sensors

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In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated.

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“…Over the past decades, the bilateral teleoperation systems based on feedback sensory data have been widely used in various applications such as space robots [1,2], underwater robots [3], medical robots [4], emergency response robots [5], and etc. In these systems, an operator uses a human robot interface (master) at the local site to control a robot (slave) in the remote environment to execute a task.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Mapping Method with Position and Stiffness for Manipulator Teleoperation

Jiang

Yang

et al. 2019

Applied Sciences

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Transferring versatile skills of human behavior to teleoperate manipulators to execute tasks with large uncertainties is challenging in robotics. This paper proposes a hybrid mapping method with position and stiffness for manipulator teleoperation through the exoskeleton device combining with the surface electromyography (sEMG) sensors. Firstly, according to the redefinition of robot workspace, the fixed scale mapping in free space and virtual impedance mapping in fine space are presented for position teleoperation. Secondly, the stiffness at the human arm endpoint is predicted and classified into three levels based on the K nearest neighbor (KNN) and XGBoost, and the stiffness mapping method is utilized to regulate the stiffness behavior of manipulator. Finally, the proposed method is demonstrated in three complementary experiments, namely the trajectory tracking in free space, the obstacle avoidance in fine space and the human robot interaction in contact space, which illustrate the effectiveness of the method.

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Robotics for Seabed Teleoperation: Part-1–Conception and Practical Implementation of a Hybrid Seabed Robot

Cited by 15 publications

References 21 publications

Thermal Feedback System From Robot Hand for Telepresence

Thermal Feedback System From Robot Hand for Telepresence

Dynamic Walking of a Legged Robot in Underwater Environments

A Hybrid Mapping Method with Position and Stiffness for Manipulator Teleoperation

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