Peers, C, Motawei, M, Richardson, R et al. (1 more author) (2021) Development of a Teleoperative Quadrupedal Manipulator. In: UK-RAS21 Conference: “Robotics at Home” Proceedings. 4th UK-RAS Conference for PhD Students & Early-Career Researchers on “Robotics at Home”, 02 Jun 2021, Online only. UK-RAS Network , pp. 17-18.
Abstract
This paper outlines the design and operation of a teleoperated quadrupedal robot enhanced with a manipulator arm and gripper. Using the mobile quadruped platform Laikago, a ViperX 300 robot arm and a wearable inertia based motion capture system, a low-cost robot was assembled capable of hybrid robot and manipulator control to allow seamless and intuitive human to robot interface. Vision for the user is provided through a 3D camera mounted at the front and a stereo camera mounted on the robot arm end-effector. The robot is fully controllable using a wearable inertial based motion capture suit. To verify the functionality of the whole system prior to testing on the real robot, physical simulations were conducted and successfully demonstrated the capabilities of the proposed teleoperation framework.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | quadruped robot, manipulator, legged robot, teleoperation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Funding Information: | Funder Grant number DSTL (Defence Science & Technology Laboratory) Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 08 Jun 2021 11:13 |
Last Modified: | 23 Apr 2024 08:24 |
Published Version: | https://www.ukras.org.uk/publications/ras-proceedi... |
Status: | Published |
Publisher: | UK-RAS Network |
Identification Number: | 10.31256/Hy7Sf7G |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:174724 |