文章基本信息

标题：Bilateral Teleoperation Control of a Bipedal Robot Gait Using a Manipulator
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作者：Koceila Cherfouh ; Jason Gu ; Umar Farooq 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：1
页码：765-770
DOI：10.1016/j.ifacol.2022.04.125
语种：English
出版社：Elsevier
摘要：AbstractThis paper discusses a new mapping algorithm for bilateral teleoperation of a bipedal robot using an Omni haptic manipulator. Researchers have previously suggested using exoskeletons to control bipedal robots remotely; however, this method’s design process, maintenance, and training needed for the operator are far too complex and costly. Here, we suggest using an Omni haptic manipulator to control the walking gait of a bipedal robot and feel the left-to-right and up-and-down motion of the biped’s center of mass (CM) as the robot is walking. On the master side, the Omni-Manipulator’s end effector’s cartesian position is scaled then mapped to the desired position for the walking gait algorithm of the biped. On the slave side, the biped robot’s CM’s cartesian position is mapped as the desired joint trajectory for the Omni haptic manipulator. Results were obtained through simulations in MATLAB of a 3-DoF Omni manipulator as the master robot and a 10-DoF biped robot as the slave robot.
关键词：KeywordsBipedmanipulatorbilateral teleoperationmapping