case2020.pdf (21.26 MB)
Variable autonomy of whole-body control for inspection and intervention in industrial environments using legged robots
conference contribution
posted on 2023-06-10, 02:02 authored by Guiyang Xin, Carlo TiseoCarlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael MistryThe 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)ISSN
2161-8070Publisher
IEEEExternal DOI
Volume
2020-APage range
1415-1420Event name
IEEE International Conference on Automation Science and EngineeringEvent location
Hong Kong, ChinaEvent type
conferenceEvent date
20-21 Aug. 2020ISBN
9781728169057Department affiliated with
- Engineering and Design Publications
Notes
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-12-20First Open Access (FOA) Date
2021-12-20First Compliant Deposit (FCD) Date
2021-12-20Usage metrics
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