Teleoperating a Legged Manipulator Through Whole-Body Control

Humphreys, Joseph; Peers, Christopher; Li, Jun; Wan, Yuhui; Sun, Jingcheng; Richardson, Robert; Zhou, Chengxu

doi:10.1007/978-3-031-15908-4_6

Cited by 6 publications

(6 citation statements)

References 18 publications

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“…Control of this robotic system is performed via sending position and orientation references to the end-effector of the robotic arm. These references are then coupled with the rest of the robot using a whole-body controller [4].…”

Section: System Overviewmentioning

confidence: 99%

Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

Peers¹,

Kanoulas²,

Kaddouh³

et al. 2022

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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Visual feedback is the most important form of perception within teleoperation, therefore there is a need for a solution that allows for increased potential information gain that a camera can provide, this can be obtained by having a camera that is able to move its position relatively to the base robot. Therefore, this paper focuses on the use of a drone to act as dynamic camera in teleoperation scenarios. The drone control is performed via the use of hand tracking through a wearable motion capture suit and is built upon an existing teleoperation control framework. The usability of the dynamic camera is demonstrated through the use of a simulated drone to act as a dynamic camera in a simulated buzz wire task.

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Section: System Overviewmentioning

confidence: 99%

Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

Peers¹,

Kanoulas²,

Kaddouh³

et al. 2022

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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“…The WBC is formulated as a QP problem featuring a range of tasks and constraints to optimise for joint velocities ṙ [5],…”

Section: Whole-body Controllermentioning

confidence: 99%

Teleoperation of a Legged Manipulator for Item Disposal

Humphrey¹,

Peers²,

Wan³

et al. 2022

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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With teleoperation currently being the optimal method of controlling legged robots in real world applications, there presents the demand for a teleoperation framework offering extensive functionality. As such, this paper presents a teleoperation framework that, with the implementation of a set of teleoperation strategies, enables a teleoperator to control the gripper, trunk and front left (FL) foot frames of a legged manipulator while utilising the robot's redundancy through the use of a Whole-body controller (WBC). This enables the teleoperator to utilise these frames to complete real world tasks, as demonstrated in this paper with the teleoperation framework being used to dispose an item in a push peddle bin.

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“…Consequently, these frameworks are sub-optimal for completing jobs in hazardous environments, as quadrupedal manipulators offer a naturally more kinematically stable system. This has been resolved in [19] and [27] where a teleoperation-WBC frameworks for quadrupedal manipulators are presented. However, in [19] only the manipulator end-effector and gait commands can be sent to the robot and only end-effector and trunk commands can be sent in [27], which would prove insufficient when dealing with tasks that involve manipulation using more than one end-effector.…”

Section: Introductionmentioning

confidence: 99%

“…2. Developing upon the work in [27], high utility is provided to the framework through the design of a set of teleoperation strategies that are realised through dynamically changing the tasks and constraints of the WBC. Additionally, an offline planner is manually designed and implemented within the framework for executing…”

Section: Introductionmentioning

confidence: 99%

High Utility Teleoperation Framework for Legged Manipulators Through Leveraging Whole-Body Control

Humphreys

Peers

et al. 2023

J Intell Robot Syst

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Legged manipulators are a prime candidate for reducing risk to human lives through completing tasks in hazardous environments. However, controlling these systems in real-world applications requires a highly functional teleoperation framework, capable of leveraging all utility of the robot to complete tasks. In this work, such a teleoperation framework is presented, where a wearable whole-body motion capture suit is integrated with a whole-body controller specialised for teleoperation and a set of teleoperation strategies that enable the control of all main frames of the robot along with additional functions. Within the whole-body controller, all tasks and constraints can be configured dynamically due to their modularity, hence enabling seamless transitions between each teleoperation strategy. As a result, this not only enables the realisation of trajectories outside the workspace without the whole-body controller but also the ability to complete tasks that would require an additional manipulator if just the gripper frames of the robot were controllable. To validate the presented framework, a set of real robot experiments have been completed to demonstrate all teleoperation strategies and analyse their proficiency.

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Teleoperating a Legged Manipulator Through Whole-Body Control

Cited by 6 publications

References 18 publications

Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task

Teleoperation of a Legged Manipulator for Item Disposal

High Utility Teleoperation Framework for Legged Manipulators Through Leveraging Whole-Body Control

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