Advancing teleoperation for legged manipulation with wearable motion capture DOI Creative Commons
Chengxu Zhou, Yuhui Wan, Christopher Peers

et al.

Frontiers in Robotics and AI, Journal Year: 2024, Volume and Issue: 11

Published: Dec. 11, 2024

The sanctity of human life mandates the replacement individuals with robotic systems in execution hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught mortal danger, stands at forefront this transition. In study, we explore potential telepresence as safeguard for operatives, drawing on robust capabilities demonstrated by legged manipulators diverse operational contexts. challenge autonomy such precarious domains underscores advantages teleoperation—a harmonious blend intuition and execution. Herein, introduce cost-effective teleoperation system employing manipulator, which combines quadruped robot, an integrated manipulative arm, RGB-D sensory capabilities. Our innovative approach tackles intricate whole-body control quadrupedal manipulator. core our is IMU-based motion capture suit, enabling intuitive teleoperation, augmented immersive visual via VR headset. We have empirically validated through rigorous real-world applications, focusing loco-manipulation tasks that necessitate comprehensive robot enhanced EOD operations.

Language: Английский

Advancing teleoperation for legged manipulation with wearable motion capture DOI Creative Commons
Chengxu Zhou, Yuhui Wan, Christopher Peers

et al.

Frontiers in Robotics and AI, Journal Year: 2024, Volume and Issue: 11

Published: Dec. 11, 2024

The sanctity of human life mandates the replacement individuals with robotic systems in execution hazardous tasks. Explosive Ordnance Disposal (EOD), a field fraught mortal danger, stands at forefront this transition. In study, we explore potential telepresence as safeguard for operatives, drawing on robust capabilities demonstrated by legged manipulators diverse operational contexts. challenge autonomy such precarious domains underscores advantages teleoperation—a harmonious blend intuition and execution. Herein, introduce cost-effective teleoperation system employing manipulator, which combines quadruped robot, an integrated manipulative arm, RGB-D sensory capabilities. Our innovative approach tackles intricate whole-body control quadrupedal manipulator. core our is IMU-based motion capture suit, enabling intuitive teleoperation, augmented immersive visual via VR headset. We have empirically validated through rigorous real-world applications, focusing loco-manipulation tasks that necessitate comprehensive robot enhanced EOD operations.

Language: Английский

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