Variable autonomy of whole-body control for inspection and intervention in industrial environments using legged robots

Xin, Guiyang, Tiseo, Carlo, Wolfslag, Wouter, Smith, Joshua, Cebe, Oguzhan, Li, Zhibin, Vijayakumar, Sethu and Mistry, Michael (2020) Variable autonomy of whole-body control for inspection and intervention in industrial environments using legged robots. IEEE International Conference on Automation Science and Engineering, Hong Kong, China, 20-21 Aug. 2020. Published in: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). 2020-A 1415-1420. IEEE ISSN 2161-8070 ISBN 9781728169057

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The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we propose a comprehensive control framework for inspection and intervention using a legged robot and validate the integration of multiple loco-manipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical whole-body control, which is the key to the various task completion subject to internal and external constraints. We demonstrate the versatility of the whole-body control in terms of decoupling tasks, singularity tolerance and constraint satisfaction. We deploy our solution in field trials and evaluate in an emergency setting by an E-stop while the robot is clearing road barriers and traversing difficult terrains.

Item Type: Conference Proceedings
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 20 Dec 2021 10:24
Last Modified: 18 Feb 2022 12:09

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