Peers, C, Humphreys, J orcid.org/0000-0001-5759-2092, Wan, Y orcid.org/0000-0002-5797-0142 et al. (4 more authors) (2022) Trigger-Assisted Ambidextrous Control Framework for Teleoperation of Two Legged Manipulators. In: Lecture Notes in Computer Science. 23rd Annual Conference Towards Autonomous Robotic Systems, 07-09 Sep 2022, Abingdon, UK. Springer , pp. 50-62. ISBN 978-3-031-15907-7
Abstract
This paper presents a motion-capture based control framework for the purpose of effectively teleoperating two legged manipulators without significant delays caused by the switching of controllers. The control framework generates high-level trajectories in 6 degrees of freedom and uses finger gesture detection to act as triggers in selecting which robot to control as well as toggling various aspects of control such as yaw rotation of the quadruped platform. The functionality and ease of use of the control framework are demonstrated through a real-life experiment where the operator controls two quadrupedal manipulator robots to open a spray can. The experiment was successfully accomplished by the proposed teleoperation framework.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG. This is an author produced version of an article published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Teleoperation; Legged robots; Manipulation |
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 11:36 |
Last Modified: | 01 Sep 2023 00:13 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/978-3-031-15908-4_5 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:189371 |