Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot
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使用仿人机器人进行洲际、多模式、大范围的远程合作
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
M. Buss
中科院分区：
文献类型：
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作者：
Paul Evrard;N. Mansard;O. Stasse;A. Kheddar;Thomas Schauss;C. Weber;A. Peer;M. Buss
本文是我们以前的工作在洲际，协作遥操作与人形机器人的延续。我们的新成就包括在前单臂双边遥操作设置的扩展，包括双手操作和行走。同时操作和运动的耦合方案的开发。此外，基于任务的控制框架，包括基于力的控制的手臂以及行走模式的生成，提出了实现稳定的全身运动的高度冗余度仿人机器人。已经进行了实验，以评估所提出的控制方案。他们带来了更多的科学挑战，仍然是为了达到一个顺利和自然的远程协作。
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.