Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation

Joao Ramos, Sangbae Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the ongoing work towards enabling robots to achieve highly dynamic behavior through full-body teleoperation. Human operator and robot slave have independent balance controllers that interact with each other during the experiments. First we present a compliant balancing controller that regulates the feet contact forces in order to mitigate external disturbances and maintain balance. Next, by estimating the forces that the operator exerts over its own Center of Mass to generate movement, the Dynamic Synchronization Force Scaling controller allows the robot to anticipate human motion during posture tracking. This strategy requires reduced control gains for state tracking when compared to purely reactive controllers, resulting in an inherently more stable system. Results show a considerable reduction of the position tracking overshoot along with substantial reduction of required error-based control forces.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5350-5356
Number of pages7
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Ramos, J., & Kim, S. (2017). Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 5350-5356). [7989629] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989629