Humphreys, J orcid.org/0000-0001-5759-2092, Peers, C, Li, J et al. (4 more authors) (2022) Teleoperating a Legged Manipulator through Whole-Body Control. In: Lecture Notes in Computer Science. 23rd Annual Conference Towards Autonomous Robotic Systems, 07-09 Sep 2022, Abingdon, UK. Springer , pp. 63-77.
Abstract
In this work, we present a highly functional teleoperation system, that integrates a full-body inertia-based motion capture suit and three intuitive teleoperation strategies with a Whole-Body Control (WBC) framework, for quadrupedal legged manipulators. This enables the realisation of commands from the teleoperator that would otherwise not be possible, as the framework is able to utilise DoF redundancy to meet several objectives simultaneously, such as locking the gripper frame in position while the trunk completes a task. This is achieved through the WBC framework featuring a defined optimisation problem that solves a range of Cartesian and joint space tasks, while subject to a set of constraints (e.g. halt constraints). These tasks and constraints are highly modular and can be configured dynamically, allowing the teleoperator to switch between teleoperation strategies seamlessly. The overall system has been tested and validated through a physics-based simulation and a hardware test, demonstrating all functionality of the system, which in turn has been used to evaluate its effectiveness.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 The Author(s). This is an open access conference paper under the terms of the Creative Commons Attribution License (CC-BY 4.0), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Teleoperation; Legged robots; Whole-body control |
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 EPSRC (Engineering and Physical Sciences Research Council) EP/V026801/1 Innovate UK fka Technology Strategy Board (TSB) Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Jul 2022 11:38 |
Last Modified: | 10 Mar 2023 17:03 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/978-3-031-15908-4_6 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:189370 |