Design and Mixed-Reality Teleoperation of a Quadruped-Manipulator Robot for SAR Tasks

Ulloa, Christyan Cruz; Domínguez, David; Barrientos, Antonio; Valero, Constantino

doi:10.1007/978-3-031-15226-9_19

Cited by 6 publications

(3 citation statements)

References 24 publications

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“…The TASAR (Team of Advanced Search And Rescue Robots) project proposes the use of ground SAR Robots for Humanitarian Assistance and Disaster Relief [48]. One of them is ARTU-R, shown in figure 1, a quadruped with a high ability to move in unstructured environments [49,50].…”

Section: Tasar Approachmentioning

confidence: 99%

Active robotic search for victims using ensemble deep learning techniques

García-Samartín,

Cruz Ulloa,

del Cerro

et al. 2024

Mach. Learn.: Sci. Technol.

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In recent years, legged quadruped robots have proved to be a valuable support to humans in dealing with Search and Rescue (SAR) operations. These robots can move with great ability in complex terrains, unstructured environments or regions with many obstacles. This work employs the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree, equipped with an RGB-D camera and a lidar, to perform victim searches in post-disaster scenarios. Exploration is done not by following a pre-planned path (as common methods) but by prioritising the areas most likely to harbour victims. To accomplish that task, both Indirect Search (IS) and Next Best View (NBV) techniques have been used. When ARTU-R gets inside an unstructured and unknown environment, it selects the next exploration point from a series of candidates. This operation is performed by comparing, for each candidate, the distance to reach it, the unexplored space around it and the probability of a victim being in its vicinity. This probability value is obtained using a Random Forest, which processes the information provided by a Convolutional Neural Network (CNN). Unlike other AI techniques, random forests are not black box models; humans can understand their decision-making processes. The system, once integrated, achieves speeds comparable to other state-of-the-art algorithms in terms of exploration, but concerning victim detection, the tests show that the resulting smart exploration generates logical paths --from a human point of view-- and that ARTU-R tends to move first to the regions where victims are present.

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Section: Tasar Approachmentioning

confidence: 99%

Active robotic search for victims using ensemble deep learning techniques

García-Samartín,

Cruz Ulloa,

del Cerro

et al. 2024

Mach. Learn.: Sci. Technol.

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“…Sus desarrollo y aplicaciones han sido estudiadas por (Rehman et al, 2018) o por (Klamt et al, 2018) entre otros. Por su parte (Klamt et al, 2020;Xu et al, 2022;Cruz Ulloa et al, 2022;Humphreys et al, 2022a,b;Ulloa et al, 2023a), presentan diferentes alternativas para su teleoperación basadas en realidad virtual, asi como en (Ostanin et al, 2019;Cruz Ulloa et al, 2023a) se presentan desarrollos basados en realidad mixta. Sin embargo se debe destacar que los equipos utilizados en estos desarrollos tienen un coste sumamente elevado, por lo que su acceso es limitado.…”

Section: Introductionunclassified

Sistema de realidad virtual para teleoperación de robots tipo centauro

Cruz,

Juez,

Cerro

et al. 2023

XLIV Jornadas De Automática: Libro De Actas: Universidad De Zaragoza, Escuela De Ingeniería Y Arquitectura, 6, 7 Y 8 De Septiem

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Los robots de búsqueda y rescate juegan un papel fundamental en la exploración de entornos peligrosos y desastres naturales. Su empleo permite a los equipos de rescate trabajar de manera más segura y eficiente en entornos de alto riesgo. La implementación de sistemas de teleoperación mediante realidad virtual (RV) permite a los usuarios controlar estos robots de forma remota con un alto grado de precisión. En este artículo se analiza, diseña e implementa un sistema de telecontrol para la operación remota del torso robotizado de un robot tipo centauro (formado por 11 servomotores) con capacidad de manipulación dual, utilizando un sistema RV. El desarrollo se ha realizado en dos fases. En la primera, se ha llevado a cabo el modelado e implementación física del torso del robot acoplado a diferentes bases móviles (robot cuadrúpedo y de orugas). En la segunda se ha creado el entorno virtual de teleoperación mediante Unity3D y ha realizado la conexión de este con el sistema real mediante Unity-Matlab. Para llevar a cabo las pruebas, se han planteado una serie de retos en interiores y exteriores, que van desde la manipulación dual de escombros, asistencia a víctimas con equipos de primeros auxilios como botiquines u oxígeno. Los principales resultados han mostrado un incremento en la confianza del operador para llevar tareas de precisión y contacto, frente a métodos de telecontrol convencionales.

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“…A first version of this work has been presented as part of CLAWAR-2022 [ 16 ], which has been extended in detail and complemented with an outdoor testing phase. Moreover, a comparison section among conventional interfaces (Hololens 1st and 2nd generation) has been included, in order to perform an analysis of the state-of-the-art systems for this Mixed-Reality study.…”

Section: Introductionmentioning

confidence: 99%

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

Ulloa

Domínguez

Cerro

et al. 2022

Sensors

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In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.

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Design and Mixed-Reality Teleoperation of a Quadruped-Manipulator Robot for SAR Tasks

Cited by 6 publications

References 24 publications

Active robotic search for victims using ensemble deep learning techniques

Active robotic search for victims using ensemble deep learning techniques

Sistema de realidad virtual para teleoperación de robots tipo centauro

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

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