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

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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 Mistry
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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)

ISSN

2161-8070

Publisher

IEEE

Volume

2020-A

Page range

1415-1420

Event name

IEEE International Conference on Automation Science and Engineering

Event location

Hong Kong, China

Event type

conference

Event date

20-21 Aug. 2020

ISBN

9781728169057

Department 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 works

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2021-12-20

First Open Access (FOA) Date

2021-12-20

First Compliant Deposit (FCD) Date

2021-12-20

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