Hands-free Telelocomotion of a Wheeled Humanoid

Abstract

Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a framework for DMM via whole-body teleoperation, built upon three key contributions: Firstly, a teleoperation framework employing a Human Machine Interface (HMI) and a bi-wheeled humanoid, SATYRR, is proposed. Secondly, the study introduces a dynamic locomotion mapping, utilizing human-robot reduced order models, and a kinematic retargeting strategy for manipulation tasks. Additionally, the paper discusses the role of whole-body haptic feedback for wheeled humanoid control. Finally, the system's effectiveness and mappings for DMM are validated through locomanipulation experiments and heavy box pushing tasks. Here we show two forms of DMM: grasping a target moving at an average speed of 0.4 m/s, and pushing boxes weighing up to 105% of the robot's weight. By simultaneously adjusting their pitch and using their arms, the pilot adjusts the robot pose to apply larger contact forces and move a heavy box at a constant velocity of 0.2 m/s.

Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning

“…Wheeled-Legged Robot Control: The most popular approach to control wheeled-legged robots is model-based control, which leverages a mathematical dynamics model. Some strategies use simplified models, like the Wheeled Inverted Pendulum (WIP), and linearize them around the system's equilibrium point [3], [2]. To achieve better tracking and versatility, more complex models have been applied [1], [10], [11].…”

“…5. The WIP is often used as a template model to control a wheeled-legged robot [3]. Note that while the degree of freedom of WIP is less complex, this still maintains intricate interactions between the robot and its surroundings, including contact dynamics distinct from those of a traditional inverted pendulum.…”

“…Combining the mobility of wheels and the mobility of legs, the capability to navigate difficult environments could be greatly improved. [1], [2], [3], [4].…”

A Large Force Haptic Interface with Modular Linear Actuators

“…We aim to develop a large force haptic interface for the teleoperation system shown in Figure 1 [22][23][24]. The system utilizes the user's skills to explore the dynamic balancing and manipulation of the teleoperated robot.…”