Simultaneous bipedal locomotion based on haptics for teleoperation
Simultaneous bipedal locomotion based on haptics for teleoperation
复制标题
基于触觉的远程操作双足同步运动
DOI：
10.1080/01691864.2019.1646162
复制
发表时间：
2019
影响因子：
2
通讯作者：
T. Murakami
中科院分区：
文献类型：
--
作者：
D. Prasanga;Kazuki Tanida;K. Ohnishi;T. Murakami
摘要本文提出了一种新的，同时双足运动的方法，利用触觉远程操作的机器人。一般来说，传统的自动步行方法需要非常高的计算能力和先进的控制器来执行所需的任务。然而，在此提出的方法中，附接到人的下半身的主外骨骼用于获得轨迹和触觉信息，以真实的时间生成从机器人的轨迹。在这个实验中，质心的横向运动被限制。此外，它被认为是没有通信延迟之间的两个系统在这个实验中，他们在本文中没有讨论。由于在所提出的方法中使用了直接运动传输，因此该方法非常简单，并且可以同时实现高性能的同时行走。此外，它不需要精确的动力学模型或特定的方法来规划轨迹。机器人的步态模式直接由人类的步态模式决定。此外，操作者可以通过外骨骼机器人感受远程环境。实验结果验证了该方法的有效性。图形摘要
ABSTRACT This paper proposes a novel, simultaneous bipedal locomotion method using haptics for remote operation of biped robots. In general, traditional biped walking methods require very high computational power and advanced controllers to perform the required task. However, in this proposed method, a master exoskeleton attached to the human’s lower body is used to obtain the trajectory and haptic information to generate the trajectory of the slave biped robot in real time. Lateral motion of the center of mass of the biped is constrained in this experiment. Also, it is considered that no communication delay is presented in between the two systems in this experiment, and they are not discussed in this paper. Since a direct motion transmission is used in the proposed method, this method is quite straight forward and a simultaneous walking can be realized at the same time with high performance. Also, it does not require an exact dynamic model of the biped or specific method to plan the trajectory. The gait pattern of the biped is directly determined by that of the human. Also, the operator can feel the remote environment through the exoskeleton robot. Results obtained from the experiments validate the proposed method. GRAPHICAL ABSTRACT