Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Abstract

International audience— This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration

Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping

“…With regards to teleoperation, Bilateral teleoperation of a humanoid robots arms has been demonstrated in [17] where safety was ensured via a force limiter built into the robots firmware but no further details about this limiter were given.…”

A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight

“…Note that several control methods used to control the external force and maintain full-body balance are developed for a humanoid robot by Sentis et al [6], Hyon et al [7] and so on. Evard et al [8] also proposed a force and balancing control algorithm for a position-controlled humanoid robot. The feature point of our system is that the force and balancing controller (module (D)) implemented in a high frequency process are separated from the motion generation (module (C)) based on multitasks such as using inverse kinematics to satisfy the trajectory of the object, footprint constraints and so on.…”

“…These method premise the torque-controlled system and have yet to be applied to rapid motion such as walking. The method proposed by Evard et al [8] has been developed for a positioncontrolled system resembling our work. In comparison to [8], one of the features our method is that our control method requires low computation cost since the Force Balance Controller adopts Resolved Momentum Control [12], proposed by Kajita et al, for the calculation of posture sequence.…”

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

“…In one important class of applications, for instance, the human holds complete control of the task execution. The examples in this class range from teleoperated robots to devices controlled by different forms of force control, such as [2]. On the opposite extreme, there are less common applications where mainly the robot controls the pace with which the task is performed, such as [3].…”