Whole-body Spatial Teleoperation Control of a Hexapod Robot in Unstructured Environment

Fu, J.; Zhang, Junhao; She, Ziyu; Li, Wenjie; Qi, Wen; Su, Hang; Ferrigno, Giancarlo; Momi, Elena De

doi:10.1109/icarm52023.2021.9536197

Cited by 4 publications

(3 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The stability region in the g-plane is defined from the definition of stability region in the s-plane (see Figure 4). For simplicity, we set the value of the parameters ai (𝑖 ∈ [1,7]) and b equal to 1 in Equation ( 3) as…”

Section: Analysis Of a Motorized Hybrid Soft Leg: Dynamic Routh's Sta...mentioning

confidence: 99%

“…Although wheeled robots have been used in various engineering applications due to easy and simple steering operation, they face challenges on rugged and uneven terrains [1]. Legged terrestrial mobile robots are more versatile in the locomotory performance, and recently various bioinspired legged robots from animals and insects have been studied and developed in the form of two-legged (bipedal) [2,3], four-legged (quadrupedal) [4,5], sixlegged (hexapedal) [6,7], and eight-legged (octopedal) [8,9] robots. It has been investigated that more legs on a robot yield superior stability to less legs on a robot during locomotion.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

2022

View full text Add to dashboard Cite

Hybrid soft leg systems have been studied for advanced gaits of soft robots. However, it is challenging to analyze and control hybrid soft legs due to their nonlinearity. In this study, we adopted dynamic pole motion (DPM) to analyze stability of a nonlinear hybrid soft leg system with dynamic Routh’s stability criterion and to design a proper controller for the nonlinear system with an error-based adaptive controller (E-BAC). A typical hybrid soft leg system was taken as an example, as such a system can easily become unstable and needs a controller to get the system back to a stable state. Specifically, E-BAC was designed to control the unstable hybrid soft leg fast with a minimal overshoot. As a nonlinear controller, the implanted E-BAC in a feedback control system includes two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback . These parameters were properly selected, and the feedback was continuously varying as a function of system error , exhibiting an adaptive control behavior. The simulation shows that this approach for constructing an adaptive controller can yield a very fast response with no overshoot.

show abstract

Section: Analysis Of a Motorized Hybrid Soft Leg: Dynamic Routh's Sta...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

2022

View full text Add to dashboard Cite

show abstract

“…Humans are capable of dealing with complicated tasks, even in unstructured or dynamic environments. By incorporating human intelligence, teleoperation control is considered a promising solution to control robots [14,15]. For example, a novel data glove was designed and employed to achieve the teleoperation control of a robotic hand-arm system, which was stable, compact, and portable [16].…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Control of an Underactuated Bionic Hand: Comparison between Wearable and Vision-Tracking-Based Methods

Poletti

Liu

et al. 2022

Robotics

View full text Add to dashboard Cite

Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the mechanical structure’s backlash, achieving natural and intuitive teleoperation control of an underactuated bionic hand remains a critical issue. In this paper, the teleoperation control of an underactuated bionic hand using wearable and vision-tracking system-based methods is investigated. Firstly, the nonlinear behaviour of the bionic hand is observed and the kinematics model is formulated. Then, the wearable-glove-based and the vision-tracking-based teleoperation control frameworks are implemented, respectively. Furthermore, experiments are conducted to demonstrate the feasibility and performance of these two methods in terms of accuracy in both static and dynamic scenarios. Finally, a user study and demonstration experiments are conducted to verify the performance of these two approaches in grasp tasks. Both developed systems proved to be exploitable in both powered and precise grasp tasks using the underactuated bionic hand, with a success rate of 98.6% and 96.5%, respectively. The glove-based method turned out to be more accurate and better performing than the vision-based one, but also less comfortable, requiring greater effort by the user. By further incorporating a robot manipulator, the system can be utilised to perform grasp, delivery, or handover tasks in daily, risky, and infectious scenarios.

show abstract

A deep Q network assisted method for underwater gliders standoff tracking to the static target

Zang

Yao

et al. 2022

Neural Comput & Applic

View full text Add to dashboard Cite

Whole-body Spatial Teleoperation Control of a Hexapod Robot in Unstructured Environment

Cited by 4 publications

References 18 publications

A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

Teleoperation Control of an Underactuated Bionic Hand: Comparison between Wearable and Vision-Tracking-Based Methods

A deep Q network assisted method for underwater gliders standoff tracking to the static target

Contact Info

Product

Resources

About