Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation

Guiyang Xin, Joshua Smith, David Rytz, Wouter Wolfslag, Hsiu-Chin Lin, Michael Mistry

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


This paper presents a control framework to teleoperate a quadruped robot’s foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employed to assist foot posture control via a hierarchical whole-body controller. The foot and torso postures are controlled by two analytical Cartesian impedance controllers cascaded by a null space projector. The contact forces acting on supporting feet are optimized by quadratic programming (QP). The foot’s Cartesian impedance controller may also estimate contact forces from trajectory tracking errors, and relay the force-feedback to the operator. A 7D haptic joystick, Sigma.7, transmits motion commands to the quadruped robot ANYmal, and renders the force feedback. Furthermore, the joystick’s motion is bounded by mapping the foot’s feasible force polytope constrained by the friction cones and torque limits in order to prevent the operator from driving the robot to slipping or falling over. Experimental results demonstrate the efficiency of the proposed framework.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-7281-7395-5
ISBN (Print)978-1-7281-7396-2
Publication statusPublished - 15 Sep 2020
Event2020 International Conference on Robotics and Automation - Virtual conference, France
Duration: 31 May 202031 Aug 2020

Publication series

ISSN (Print)1050-4729
ISSN (Electronic)2577-087X


Conference2020 International Conference on Robotics and Automation
Abbreviated titleICRA 2020
CityVirtual conference
Internet address

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