Teleoperation of a Legged Manipulator for Item Disposal
Title: Teleoperation of a Legged Manipulator for Item Disposal
Authors: Joseph Humphrey (University of Leeds); Christopher Peers (University of Leeds); Yuhui Wan (University of Leeds); Robert Richardson (University of Leeds); Chengxu Zhou (University of Leeds);
Year: 2022
Citation: Humphrey, J., Peers, C., Wan, Y., Richardson, R., Zhou, C., (2022). Teleoperation of a Legged Manipulator for Item Disposal. UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings, 44-45. doi: 10.31256/Ht4Wq6B
Abstract:
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.