Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Guiyang Xin; Carlo Tiseo; Wouter Wolfslag; Joshua Smith; Oguzhan Cebe; Zhibin Li; Sethu Vijayakumar; Michael Mistry

doi:10.1109/CASE48305.2020.9216813

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael Mistry

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we proposed a comprehensive control framework for inspection and intervention using a legged robot and validated the integration of multiple locomanipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical wholebody control, which is the key to the various task completion subject to internal and external constraints. We demonstrated the versatility of the whole-body control in terms of decoupling tasks, singularity toleration and constraint satisfaction. We deployed our solution in field trials and evaluated in an emergency setting by an E-stop while the robot was clearing road barrier and traversing difficult
terrains.

Original language	English
Title of host publication	2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)
Publisher	Institute of Electrical and Electronics Engineers
Pages	1415-1420
Number of pages	6
ISBN (Electronic)	978-1-7281-6904-0
ISBN (Print)	978-1-7281-6905-7
DOIs	https://doi.org/10.1109/CASE48305.2020.9216813
Publication status	Published - 8 Oct 2020
Event	16th International Conference on Automation Science and Engineering - Duration: 20 Aug 2020 → 21 Aug 2020 https://www.ieee-ras.org/component/rseventspro/event/1720-case-2020-international-conference-on-automation-science-and-engineering

Publication series

Name
Publisher	IEEE
ISSN (Print)	2161-8070
ISSN (Electronic)	2161-8089

Conference

Conference	16th International Conference on Automation Science and Engineering
Abbreviated title	CASE 2020
Period	20/08/20 → 21/08/20
Internet address	https://www.ieee-ras.org/component/rseventspro/event/1720-case-2020-international-conference-on-automation-science-and-engineering

Access to Document

10.1109/CASE48305.2020.9216813Licence: All Rights Reserved

Variable Autonomy of Whole-body_XIN_DOA30052020_AFVAccepted author manuscript, 1.26 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9216813Licence: All Rights Reserved

THING - subTerranean Haptic INvestiGator
Mistry, M.
EU government bodies
1/01/18 → 30/09/21
Project: Research
MEMMO - Memory of Motion
Vijayakumar, S.
EU government bodies
1/01/18 → 30/06/22
Project: Research
UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)
Vijayakumar, S., Mistry, M., Ramamoorthy, R. & Williams, C.
EPSRC
1/10/17 → 31/03/22
Project: Research

Cite this

Xin, G., Tiseo, C., Wolfslag, W., Smith, J., Cebe, O., Li, Z., Vijayakumar, S., & Mistry, M. (2020). Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. In 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) (pp. 1415-1420). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CASE48305.2020.9216813

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title = "Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots",

abstract = "The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we proposed a comprehensive control framework for inspection and intervention using a legged robot and validated the integration of multiple locomanipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical wholebody control, which is the key to the various task completion subject to internal and external constraints. We demonstrated the versatility of the whole-body control in terms of decoupling tasks, singularity toleration and constraint satisfaction. We deployed our solution in field trials and evaluated in an emergency setting by an E-stop while the robot was clearing road barrier and traversing difficult terrains.",

author = "Guiyang Xin and Carlo Tiseo and Wouter Wolfslag and Joshua Smith and Oguzhan Cebe and Zhibin Li and Sethu Vijayakumar and Michael Mistry",

year = "2020",

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doi = "10.1109/CASE48305.2020.9216813",

language = "English",

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note = "16th International Conference on Automation Science and Engineering, CASE 2020 ; Conference date: 20-08-2020 Through 21-08-2020",

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Xin, G, Tiseo, C, Wolfslag, W, Smith, J, Cebe, O, Li, Z , Vijayakumar, S & Mistry, M 2020, Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. in 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, pp. 1415-1420, 16th International Conference on Automation Science and Engineering, 20/08/20. https://doi.org/10.1109/CASE48305.2020.9216813

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. / Xin, Guiyang; Tiseo, Carlo; Wolfslag, Wouter et al.
2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers, 2020. p. 1415-1420.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

AU - Xin, Guiyang

AU - Tiseo, Carlo

AU - Wolfslag, Wouter

AU - Smith, Joshua

AU - Cebe, Oguzhan

AU - Li, Zhibin

AU - Vijayakumar, Sethu

AU - Mistry, Michael

PY - 2020/10/8

Y1 - 2020/10/8

N2 - The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we proposed a comprehensive control framework for inspection and intervention using a legged robot and validated the integration of multiple locomanipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical wholebody control, which is the key to the various task completion subject to internal and external constraints. We demonstrated the versatility of the whole-body control in terms of decoupling tasks, singularity toleration and constraint satisfaction. We deployed our solution in field trials and evaluated in an emergency setting by an E-stop while the robot was clearing road barrier and traversing difficult terrains.

AB - The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we proposed a comprehensive control framework for inspection and intervention using a legged robot and validated the integration of multiple locomanipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical wholebody control, which is the key to the various task completion subject to internal and external constraints. We demonstrated the versatility of the whole-body control in terms of decoupling tasks, singularity toleration and constraint satisfaction. We deployed our solution in field trials and evaluated in an emergency setting by an E-stop while the robot was clearing road barrier and traversing difficult terrains.

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M3 - Conference contribution

SN - 978-1-7281-6905-7

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BT - 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)

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T2 - 16th International Conference on Automation Science and Engineering

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ER -

Xin G, Tiseo C, Wolfslag W, Smith J, Cebe O, Li Z et al. Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. In 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Institute of Electrical and Electronics Engineers. 2020. p. 1415-1420 doi: 10.1109/CASE48305.2020.9216813

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Abstract / Description of output

Publication series

Conference

Access to Document

Fingerprint

Projects

THING - subTerranean Haptic INvestiGator

MEMMO - Memory of Motion

UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)

Cite this