Teleoperation of a Legged Manipulator for Item Disposal

Abstract

—With teleoperation currently being the optimal method of controlling legged robots in real world applications, there presents the demand for a teleoperation framework offering extensive functionality. As such, this paper presents a teleoperation framework that, with the implementation of a set of teleoperation strategies, enables a teleoperator to control the gripper, trunk and front left (FL) foot frames of a legged manipulator while utilising the robot’s redundancy through the use of a Whole-body controller (WBC). This enables the teleoperator to utilise these frames to complete real world tasks, as demonstrated in this paper with the teleoperation framework being used to dispose an item in a push peddle bin.