Novel Mapping Algorithm For Bilateral Teleoperation Of Bipedal Robot Using A Manipulator
Date
2022-04-27T17:38:31Z
Authors
Cherfouh, Koceila
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Abstract
Research on the Bilateral teleoperation of biped robots is limited. So far, researchers
have only studied bilateral teleoperation of bipedal robots using exoskeletons due to
the kinematic similarities. This is, however, not practical as it requires considerable
resources for the purchase, maintenance, and operator safety training.
This thesis presents a novel mapping algorithm for bilateral teleoperation of a bipedal
robot using a robotic manipulator. This research aims to control the gait of a biped
robot and receive haptic feedback representative of its movements along its center of
mass (CM). Two mapping methods are presented and compared: 1- a cartesian-based
mapping that relies on forward and inverse kinematics to map desired trajectories; 2-
a deep-learning approach that reduces complexity and computation time. Simulation
and experimental results on a 10-degrees of freedom (DoF) biped robot and 3-DoF
robotic manipulator are carried out to validate the feasibility of this proposal.
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Keywords
Bilateral Teleoperation, Control Systems, Biped Robots, Robots