Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design f...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/8/2181 |
| _version_ | 1797570843186823168 |
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| author | Andrés Martín-Barrio Juan Jesús Roldán-Gómez Iván Rodríguez Jaime del Cerro Antonio Barrientos |
| author_facet | Andrés Martín-Barrio Juan Jesús Roldán-Gómez Iván Rodríguez Jaime del Cerro Antonio Barrientos |
| author_sort | Andrés Martín-Barrio |
| collection | DOAJ |
| description | Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications. |
| first_indexed | 2024-03-10T20:31:11Z |
| format | Article |
| id | doaj.art-a3d3cec1e7c54db3a46c9c6a2d18ebb0 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T20:31:11Z |
| publishDate | 2020-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-a3d3cec1e7c54db3a46c9c6a2d18ebb02023-11-19T21:25:57ZengMDPI AGSensors1424-82202020-04-01208218110.3390/s20082181Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection TasksAndrés Martín-Barrio0Juan Jesús Roldán-Gómez1Iván Rodríguez2Jaime del Cerro3Antonio Barrientos4Centre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, SpainCentre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, SpainCentre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, SpainCentre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, SpainCentre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, 28006 Madrid, SpainHyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.https://www.mdpi.com/1424-8220/20/8/2181hyper-redundantrobotdesignteleoperationmixed realityinspection |
| spellingShingle | Andrés Martín-Barrio Juan Jesús Roldán-Gómez Iván Rodríguez Jaime del Cerro Antonio Barrientos Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks Sensors hyper-redundant robot design teleoperation mixed reality inspection |
| title | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
| title_full | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
| title_fullStr | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
| title_full_unstemmed | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
| title_short | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
| title_sort | design of a hyper redundant robot and teleoperation using mixed reality for inspection tasks |
| topic | hyper-redundant robot design teleoperation mixed reality inspection |
| url | https://www.mdpi.com/1424-8220/20/8/2181 |
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