中文标题#
基於視覺的四足機器人機械臂共享控制遙操作方案
英文标题#
A Vision-Based Shared-Control Teleoperation Scheme for Controlling the Robotic Arm of a Four-Legged Robot
中文摘要#
在危險和偏遠環境中，機器人系統執行關鍵任務，需要提高安全性和效率。 其中，帶有機械臂的四足機器人能夠為複雜操作提供移動性和多功能性。 然而，由於缺乏集成的障礙物檢測和直觀的機械臂控制方法，遠程操作四足機器人具有挑戰性，這在受限或動態變化的工作空間中增加了碰撞風險。 通過操縱桿或觸控板進行遠程操作可能不夠直觀，並且由於其複雜性，需要高水平的專業知識，最終給操作員帶來較高的認知負擔。 為了解決這一挑戰，一種直接將人類手臂運動映射到機器人機械臂的遠程操作方法提供了一個更簡單和更易用的解決方案。 本文提出了一種直觀的遠程控制方法，利用基於視覺的姿態估計流程，該流程使用外部攝像頭和基於機器學習的模型來檢測操作員的手腕位置。 該系統將手腕運動映射為機器手臂指令，以實現實時控制機器手臂。 軌跡規劃器通過檢測並防止與障礙物和機器手臂本身的碰撞來確保安全的遠程操作。 該系統在真實機器人上進行了驗證，展示了實時控制中的穩健性能。 這種遠程操作方法為工業應用提供了一種成本效益高的解決方案，在安全性、精度和易用性至關重要的情況下，確保在高風險環境中的可靠和直觀的機器人控制。
英文摘要#
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However, teleoperating quadruped robots is challenging due to the lack of integrated obstacle detection and intuitive control methods for the robotic arm, increasing collision risks in confined or dynamically changing workspaces. Teleoperation via joysticks or pads can be non-intuitive and demands a high level of expertise due to its complexity, culminating in a high cognitive load on the operator. To address this challenge, a teleoperation approach that directly maps human arm movements to the robotic manipulator offers a simpler and more accessible solution. This work proposes an intuitive remote control by leveraging a vision-based pose estimation pipeline that utilizes an external camera with a machine learning-based model to detect the operator's wrist position. The system maps these wrist movements into robotic arm commands to control the robot's arm in real-time. A trajectory planner ensures safe teleoperation by detecting and preventing collisions with both obstacles and the robotic arm itself. The system was validated on the real robot, demonstrating robust performance in real-time control. This teleoperation approach provides a cost-effective solution for industrial applications where safety, precision, and ease of use are paramount, ensuring reliable and intuitive robotic control in high-risk environments.
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