Title:
Humanoid Robot Teleoperation for Tasks with Power Tools
Humanoid Robot Teleoperation for Tasks with Power Tools
Author(s)
O’Flaherty, Rowland
Vieira, Peter
Grey, M. X.
Oh, Paul
Bobick, Aaron F.
Egerstedt, Magnus B.
Stilman, Mike
Vieira, Peter
Grey, M. X.
Oh, Paul
Bobick, Aaron F.
Egerstedt, Magnus B.
Stilman, Mike
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Abstract
This paper presents the implementation of inverse
kinematics to achieve teleoperation of a physical humanoid robot
platform. The humanoid platform will be used to compete
in the DARPA Robot Challenge, which requires autonomous
execution of various search and rescue tasks, such as cutting
through walls, which is a very practical application to robotics.
Using a closed-form kinematic solution and a basic feedback
controller, our objective of executing simple tasks is realized
via teleoperation. Joint limits and singularities are accounted
for using the different cases in the kinematic solution; and a
decision method is implemented to determine how to position the
end-effector when the goal is outside the feasible workspace.
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Date Issued
2013-04
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Text
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Post-print
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