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Teleoperation for ANYmal with arm for manipulation tasks
We want to enhance the capabilities of our existing teleoperation framework to be able to safely manipulate objects while moving the legged base
Keywords: Teleoperation, legged robots, control, passivity, safety, human robot interaction
Being able to remotely teleoperate a robot brings a couple of advantages with it, such as the fact that the human does not have to physically be in a dangerous scenario. The robotic avatar, has similar manipulation capabilities, but does not have the human intelligence and experience. To compensate for this, one fessible solution is to teleoperate the robot remotely. In such a scenario, the operator commands a haptic device, called master, and the robot located on site, the slave, has to follow the given commands.
However, unstable or delayed connections can make the system unstable. To overcome this, we developed a passivity-theory based teleoperation framework. This framework was tested on our ANYmal with arm in two scenarios: 1) free motion of the arm and without moving the base: 2) moving the base wiithout moving the arm.
In this project we aim to extend the existing framework to be able to go into contact with different surfaces or objects and be able to move the base while teleoperating the end-effector.
This project will be carried out in cooperation with our partner UTwente, NL. Therefore, the applicant should be willing to do an exchange at our partner university in the Netherlands.
Being able to remotely teleoperate a robot brings a couple of advantages with it, such as the fact that the human does not have to physically be in a dangerous scenario. The robotic avatar, has similar manipulation capabilities, but does not have the human intelligence and experience. To compensate for this, one fessible solution is to teleoperate the robot remotely. In such a scenario, the operator commands a haptic device, called master, and the robot located on site, the slave, has to follow the given commands.
However, unstable or delayed connections can make the system unstable. To overcome this, we developed a passivity-theory based teleoperation framework. This framework was tested on our ANYmal with arm in two scenarios: 1) free motion of the arm and without moving the base: 2) moving the base wiithout moving the arm.
In this project we aim to extend the existing framework to be able to go into contact with different surfaces or objects and be able to move the base while teleoperating the end-effector.
This project will be carried out in cooperation with our partner UTwente, NL. Therefore, the applicant should be willing to do an exchange at our partner university in the Netherlands.
- literature research, understanding existing framework and code base
- developemnt of a feasible solution
- implementation of proposed solution
- tests on real robot
- literature research, understanding existing framework and code base - developemnt of a feasible solution - implementation of proposed solution - tests on real robot
- good background in control related topics
- good programming knowledge, preferably C++
- interest in doing an exchange at the UTwente, Netherlands
- experience with ROS and teleoperation is a plus
- good background in control related topics - good programming knowledge, preferably C++ - interest in doing an exchange at the UTwente, Netherlands - experience with ROS and teleoperation is a plus
Andreea Tulbure, tulbure@mavt.ethz.ch
Jean Pierre Sleiman, jeanpierre.sleiman@mavt.ethz.ch
Burak Cizmeci, burak.cizmeci@mavt.ethz.ch
Andreea Tulbure, tulbure@mavt.ethz.ch Jean Pierre Sleiman, jeanpierre.sleiman@mavt.ethz.ch Burak Cizmeci, burak.cizmeci@mavt.ethz.ch