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SubmittedOpen Access (License Unspecified), Open
Conference proceeding
Humanoid robot teleoperation for tasks with power tools
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp 1-6
Apr 2013
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires autonomous execution of various search and rescue tasks, such as cutting through walls, which is a very practical application to robotics. Using a closed-form kinematic solution and a basic feedback controller, our objective of executing simple tasks is realized via teleoperation. Joint limits and singularities are accounted for using the different cases in the kinematic solution; and a decision method is implemented to determine how to position the end-effector when the goal is outside the feasible workspace.
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Details
- Title
- Humanoid robot teleoperation for tasks with power tools
- Creators
- Rowland O'Flaherty - Georgia Institute of TechnologyPeter Vieira - Georgia Institute of TechnologyM. X Grey - Georgia Institute of TechnologyPaul Oh - Drexel UniversityAaron Bobick - Georgia Institute of TechnologyMagnus Egerstedt - Georgia Institute of TechnologyMike Stilman - Georgia Institute of TechnologyIEEE
- Publication Details
- 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp 1-6
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000326807200019
- Scopus ID
- 2-s2.0-84883341476
- Other Identifier
- 991019348625904721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Electrical & Electronic
- Robotics