中文标题#
基于视觉的四足机器人机械臂共享控制遥操作方案
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#
在危险和偏远环境中，机器人系统执行关键任务，需要提高安全性和效率。 其中，带有机械臂的四足机器人能够为复杂操作提供移动性和多功能性。 然而，由于缺乏集成的障碍物检测和直观的机械臂控制方法，远程操作四足机器人具有挑战性，这在受限或动态变化的工作空间中增加了碰撞风险。 通过操纵杆或触控板进行远程操作可能不够直观，并且由于其复杂性，需要高水平的专业知识，最终给操作员带来较高的认知负担。 为了解决这一挑战，一种直接将人类手臂运动映射到机器人机械臂的远程操作方法提供了一个更简单和更易用的解决方案。 本文提出了一种直观的远程控制方法，利用基于视觉的姿态估计流程，该流程使用外部摄像头和基于机器学习的模型来检测操作员的手腕位置。 该系统将手腕运动映射为机器人手臂指令，以实现实时控制机器人手臂。 轨迹规划器通过检测并防止与障碍物和机器人手臂本身的碰撞来确保安全的远程操作。 该系统在真实机器人上进行了验证，展示了实时控制中的稳健性能。 这种远程操作方法为工业应用提供了一种成本效益高的解决方案，在安全性、精度和易用性至关重要的情况下，确保在高风险环境中的可靠和直观的机器人控制。
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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