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Semi-Autonomous Bilateral Teleoperation of Hexapod Robot Based on Haptic Force Feedback

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Abstract

With the widespread use of multi-legged robots in various applications, new challenges have arisen in terms of designing their control systems, one of which is posed by the multiple degrees of freedom of the robotic legs. This paper proposes a novel method for the bilateral teleoperation control of a hexapod robot by using a semi-autonomous strategy. In this teleoperation system, the body velocities of the slave robot and the displacements of the master robot are mapped to each other. The angular velocities of the joints of the legs rely on independent planning to achieve a horizontal movement. A controller is designed based on the difference between the expected velocity and the actual velocity of the body, and the difference is fed back to the operator in the form of haptic force. Therefore, the transparency of the control system is guaranteed by increasing the damping compensation both in the master and slave robots. In addition, the stability of the bilateral teleoperation control system of the hexapod robot is guaranteed by passivity theory, and the proposed method is verified by conducting semi-physical simulation experiments.

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Acknowledgments

This study was supported in part by the “National Natural Science Foundation of China (Grant No. 51575120/51275106)”, “National Basic Research Program of China (Grant No. 2013CB035502)”, “Foundation of Chinese State Key Laboratory of Robotics and Systems (Grant No. SKLRS201501B, SKLRS20164B)”, “Habin Talent Programme for Technological Innovation (No.2015RAXXJ007)” and “Harbin Talent Programme for Distinguished Young Scholars (No. 2014RFYXJ001)”.

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Authors and Affiliations

  1. Research Institute of Mechatronic Control and Automation Technology, Harbin University of Science and Technology, Harbin, 150080, China

    Bo You, Jiayu Li, Jiazhong Xu & Kaixin Li

  2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China

    Liang Ding, Weihua Li & Haibo Gao

Authors
  1. Bo You
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  2. Jiayu Li
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  3. Liang Ding
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  4. Jiazhong Xu
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  5. Weihua Li
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  6. Kaixin Li
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  7. Haibo Gao
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Correspondence to Jiayu Li.

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You, B., Li, J., Ding, L. et al. Semi-Autonomous Bilateral Teleoperation of Hexapod Robot Based on Haptic Force Feedback. J Intell Robot Syst 91, 583–602 (2018). https://doi.org/10.1007/s10846-017-0738-8

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  • DOI: https://doi.org/10.1007/s10846-017-0738-8

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