Humanoid Robot Teleoperation for Tasks with Power Tools
Date
2013-04Author
O’Flaherty, Rowland
Vieira, Peter
Grey, M. X.
Oh, Paul
Bobick, Aaron
Egerstedt, Magnus B.
Stilman, Mike
Metadata
Show full item recordAbstract
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.