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

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Original languageEnglish
Title of host publication2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-7281-6904-0
ISBN (Print)978-1-7281-6905-7
Publication statusPublished - 8 Oct 2020
Event16th International Conference on Automation Science and Engineering -
Duration: 20 Aug 202021 Aug 2020

Publication series

ISSN (Print)2161-8070
ISSN (Electronic)2161-8089


Conference16th International Conference on Automation Science and Engineering
Abbreviated titleCASE 2020
Internet address


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

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