Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid Robots
Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid Robots
复制标题
用于人形机器人运动控制和远程呈现的原地行走足部接口
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
I. Farkhatdinov
中科院分区：
文献类型：
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作者：
Ata Otaran;I. Farkhatdinov
我们提出了一个脚轻敲步行到位类型的运动接口和算法，以产生高层次的运动模式的类人远程控制机器人。脚轻敲运动作用在平台上被用作运动命令来远程控制仿人机器人的运动。我们描述了两个独立的运动映射算法，适用于轮式和双足类人运动。我们的接口，使远程运动控制的人形机器人的帮助下，坐着和免提接口，并允许使用手持或基于桌面的界面进行操作任务。通过8名参与者控制虚拟机器人步行速度的实验研究，探讨了参与者与以不同速度移动的参考目标（引导机器人）之间能否保持1- 3 m的距离。所有参与者都能够使用所提出的接口来有效地跟踪领先的机器人，步行速度小于1米/秒，平均跟踪误差为0.47米。我们讨论的研究结果沿着与美国宇航局TLX和系统可用性调查。
We present a foot-tapping walking-in-place type locomotion interface and algorithm to generate high-level movement patterns for humanoid remotely controlled robots. Foot tapping motions acting on the platform are used as movement commands to remotely control locomotion of a humanoid robot. We describe two separate motion mapping algorithms suitable for wheeled and bipedal humanoid locomotion. Our interface enables remote locomotion control of humanoid robots with the help of a seated and hands-free interface and enables the use of both handheld or desktop-based interfaces for manipulation tasks. An experimental study with eight participants controlling walking speed of a virtual robot was conducted to explore if the participants could maintain distance (1-3m range) to a reference target (leading robot) moving at different speeds. All participants were able to use the proposed interface to track the leading robot efficiently for walking speeds of less than 1 m/s and an average tracking error was 0.47 m. We discuss the results of the study along with the NASA TLX and system usability surveys.