Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot
Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot
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DOI：
10.1109/lra.2018.2852840
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Kim, Sangbae
中科院分区：
文献类型：
--
作者：
Ramos, Joao;Kim, Sangbae
这封信提出了一个双边反馈律的实验评估，用于欠驱动动态系统的远操作：小车杆。这个物理系统说明了另一个简单的模型，线性倒立摆（LIP）；一个流行的有腿机器人控制模板，在这封信中，操作员和机器人之间的映射通道。我们开发了一种基于几何和运动相似性的缩放策略，以便为具有不同于人类固有频率的LIP生成动态可行的轨迹。此外，通过修改Cart-Pole的经典方程，我们展示了它如何能够定量和直观地表示所提出的模板。由人工操作人员动态控制具有较慢或较快固有频率的从系统的实验表明了所提方法的有效性。这项研究是建立一个人机界面的一步，动态同步操作员和有腿机器人，以最终实现复杂的运动行为。
This letter presents the experimental evaluation of a bilateral feedback law for the teleoperation of an underactuated dynamic system: the Cart-Pole. This physical system illustrates another simple model, the Linear Inverted Pendulum (LIP); a popular template for legged robot control and, in this letter, the mapping channel between the operator and robot. We develop a scaling strategy based on geometric and kinematic similarity in order to generate dynamically feasible trajectories for the LIP with a natural frequency different than the human's. Moreover, by modifying the classic equations for the Cart-Pole, we show how it can competently represent the proposed template quantitatively and visually. Experiments where a human operator dynamically controls slave systems with slower or faster natural frequencies illustrate the efficacy of the proposed method. This study is a step toward building a human-machine interface that dynamically synchronize operator and legged robot in order to eventually achieve complex motor behaviors.