Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions
We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinate...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
International Conference on Field and Service Robotics
2011
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| Online Access: | http://hdl.handle.net/1721.1/63171 https://orcid.org/0000-0001-5473-3566 |
| Summary: | We have developed a new operator interface system for high-DoF articulated
robots based on the idea of allowing the operator to extend the robot’s actual
kinematics with virtual articulations. These virtual links and joints can model both
primary task DoF and constraints on whole-robot coordinated motion. Unlike other
methods, our approach can be applied to robots and tasks of arbitrary kinematic
topology, and allows specifying motion with a scalable level of detail. We present
hardware results where NASA/JPL’s All-Terrain Hex-Legged Extra-Terrestrial Explorer
(ATHLETE) executes previously challenging inspection and manipulation
motions involving coordinated motion of all 36 of the robot’s joints. |
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