Humphrey, J orcid.org/0000-0001-5759-2092, Peers, C, Wan, Y orcid.org/0000-0002-5797-0142 et al. (2 more authors) (2022) Teleoperation of a Legged Manipulator for Item Disposal. In: UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings. #UKRAS22: The 5th UK Robotics and Autonomous Systems Conference, 26 Aug 2022, Aberystwyth, UK. EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network , pp. 44-45.
Abstract
With teleoperation currently being the optimal method of controlling legged robots in real world applications, there presents the demand for a teleoperation framework offering extensive functionality. As such, this paper presents a teleoperation framework that, with the implementation of a set of teleoperation strategies, enables a teleoperator to control the gripper, trunk and front left (FL) foot frames of a legged manipulator while utilising the robot’s redundancy through the use of a Whole-body controller (WBC). This enables the teleoperator to utilise these frames to complete real world tasks, as demonstrated in this paper with the teleoperation framework being used to dispose an item in a push peddle bin.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | This is an author produced version of a conference paper published in UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings. |
Keywords: | whole-body control; legged manipulator; teleoperation; quadruped robot |
Dates: |
|
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 Innovate UK fka Technology Strategy Board (TSB) Not Known EPSRC (Engineering and Physical Sciences Research Council) EP/V026801/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Aug 2022 10:59 |
Last Modified: | 22 Feb 2024 20:25 |
Status: | Published |
Publisher: | EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network |
Identification Number: | 10.31256/Ht4Wq6B |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:189806 |