Advancing teleoperation for legged manipulation with wearable motion capture
The sanctity of human life mandates the replacement of individuals with robotic systems in the execution of hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught with mortal danger, stands at the forefront of this transition. In this study, we explore the potential of robotic teleprese...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-12-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1430842/full |
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| author | Chengxu Zhou Yuhui Wan Christopher Peers Andromachi Maria Delfaki Dimitrios Kanoulas |
| author_facet | Chengxu Zhou Yuhui Wan Christopher Peers Andromachi Maria Delfaki Dimitrios Kanoulas |
| author_sort | Chengxu Zhou |
| collection | DOAJ |
| description | The sanctity of human life mandates the replacement of individuals with robotic systems in the execution of hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught with mortal danger, stands at the forefront of this transition. In this study, we explore the potential of robotic telepresence as a safeguard for human operatives, drawing on the robust capabilities demonstrated by legged manipulators in diverse operational contexts. The challenge of autonomy in such precarious domains underscores the advantages of teleoperation—a harmonious blend of human intuition and robotic execution. Herein, we introduce a cost-effective telepresence and teleoperation system employing a legged manipulator, which combines a quadruped robot, an integrated manipulative arm, and RGB-D sensory capabilities. Our innovative approach tackles the intricate challenge of whole-body control for a quadrupedal manipulator. The core of our system is an IMU-based motion capture suit, enabling intuitive teleoperation, augmented by immersive visual telepresence via a VR headset. We have empirically validated our integrated system through rigorous real-world applications, focusing on loco-manipulation tasks that necessitate comprehensive robot control and enhanced visual telepresence for EOD operations. |
| format | Article |
| id | doaj-art-31940b8bee6f4e568063f85d50465422 |
| institution | Kabale University |
| issn | 2296-9144 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-31940b8bee6f4e568063f85d504654222024-12-11T05:10:32ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442024-12-011110.3389/frobt.2024.14308421430842Advancing teleoperation for legged manipulation with wearable motion captureChengxu Zhou0Yuhui Wan1Christopher Peers2Andromachi Maria Delfaki3Dimitrios Kanoulas4Intelligent Robotics Research Group, Department of Computer Science, University College London, London, United KingdomSchool of Mechanical Engineering, University of Leeds, Leeds, United KingdomSchool of Mechanical Engineering, University of Leeds, Leeds, United KingdomIntelligent Robotics Research Group, Department of Computer Science, University College London, London, United KingdomIntelligent Robotics Research Group, Department of Computer Science, University College London, London, United KingdomThe sanctity of human life mandates the replacement of individuals with robotic systems in the execution of hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught with mortal danger, stands at the forefront of this transition. In this study, we explore the potential of robotic telepresence as a safeguard for human operatives, drawing on the robust capabilities demonstrated by legged manipulators in diverse operational contexts. The challenge of autonomy in such precarious domains underscores the advantages of teleoperation—a harmonious blend of human intuition and robotic execution. Herein, we introduce a cost-effective telepresence and teleoperation system employing a legged manipulator, which combines a quadruped robot, an integrated manipulative arm, and RGB-D sensory capabilities. Our innovative approach tackles the intricate challenge of whole-body control for a quadrupedal manipulator. The core of our system is an IMU-based motion capture suit, enabling intuitive teleoperation, augmented by immersive visual telepresence via a VR headset. We have empirically validated our integrated system through rigorous real-world applications, focusing on loco-manipulation tasks that necessitate comprehensive robot control and enhanced visual telepresence for EOD operations.https://www.frontiersin.org/articles/10.3389/frobt.2024.1430842/fullteleoperationlegged robotsmobile manipulationwhole-body controlhuman-robot interactiontelexistence |
| spellingShingle | Chengxu Zhou Yuhui Wan Christopher Peers Andromachi Maria Delfaki Dimitrios Kanoulas Advancing teleoperation for legged manipulation with wearable motion capture Frontiers in Robotics and AI teleoperation legged robots mobile manipulation whole-body control human-robot interaction telexistence |
| title | Advancing teleoperation for legged manipulation with wearable motion capture |
| title_full | Advancing teleoperation for legged manipulation with wearable motion capture |
| title_fullStr | Advancing teleoperation for legged manipulation with wearable motion capture |
| title_full_unstemmed | Advancing teleoperation for legged manipulation with wearable motion capture |
| title_short | Advancing teleoperation for legged manipulation with wearable motion capture |
| title_sort | advancing teleoperation for legged manipulation with wearable motion capture |
| topic | teleoperation legged robots mobile manipulation whole-body control human-robot interaction telexistence |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2024.1430842/full |
| work_keys_str_mv | AT chengxuzhou advancingteleoperationforleggedmanipulationwithwearablemotioncapture AT yuhuiwan advancingteleoperationforleggedmanipulationwithwearablemotioncapture AT christopherpeers advancingteleoperationforleggedmanipulationwithwearablemotioncapture AT andromachimariadelfaki advancingteleoperationforleggedmanipulationwithwearablemotioncapture AT dimitrioskanoulas advancingteleoperationforleggedmanipulationwithwearablemotioncapture |