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

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI:10.1109/ICARM52023.2021.9536197

Junling Fu, Junhao Zhang, Ziyu She, S. E. Ovur, Wenjie Li, Wen Qi, Hang Su, G. Ferrigno, E. De Momi

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引用次数: 3

Abstract

Considering the lack of autonomy and the uncertainties of the external environment, manipulating robots in an unstructured environment remains a critical issue. By combining human intelligence, teleoperation control has been considered as a significant solution for enhancing the manipulation capability. In this paper, the whole-body spatial teleoperation control strategy of a hexapod robot in an unstructured environment is investigated. Firstly, the forward and inverse kinematics modeling of the hexapod robot leg is analyzed. In addition, three gaits planning, namely straight, swivel, and transverse gaits, are implemented based on the tripod method. Then, a teleoperation control scheme is developed, by integrating variable motion mapping, incremental motion control strategy, as well as visual and haptic feedback. Finally, preliminary experiments are designed and implemented to verify the feasibility and performance of the developed whole-body spatial teleoperation control strategy.

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非结构化环境下六足机器人的全身空间遥操作控制

考虑到机器人缺乏自主性和外部环境的不确定性，在非结构化环境中操纵机器人仍然是一个关键问题。结合人的智能，远程操作控制已被认为是提高操作能力的重要解决方案。研究了非结构化环境下六足机器人的全身空间遥操作控制策略。首先对六足机器人腿的正运动学和逆运动学建模进行了分析。此外，基于三脚架法实现了直线、旋转和横向三种步态规划。然后，结合可变运动映射、增量运动控制策略以及视觉和触觉反馈，提出了一种远程操作控制方案。最后，设计并实施了初步实验，验证了所开发的全身空间遥操作控制策略的可行性和性能。

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2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

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