Teleoperation of Upper-Body Humanoid Robot Platform with Hybrid Motion Mapping Strategy

摘要

In this paper, a hybrid motion mapping strategy for the teleoperation system is proposed. The strategy is implemented on a upper-body humanoid robot platform with the Haptic Workstation. The hybrid motion mapping strategy is composed of (a) the fixed scaling factor mapping method in the free constant-orientation workspace of the slave device, (b) the virtual impedance mapping method in the constrained constant-orientation workspace of the slave device, and (c) the orientation adjustment mapping method. Among them, the fixed scaling factor mapping method and the virtual impedance mapping method are focused on the position control, by expressing and matching the workspaces of the master device and the slave device with convex hull. The expressing and matching method can provide the slave device with the largest operational space as well as the operating comfort for the operator. Compared with the fixed scaling factor mapping method, the virtual impedance mapping method is to further address the problems of obstacle avoidance and master device workspace boundary avoidance for the master-slave control, by introducing the virtual impedance to the motion mapping. The orientation adjustment is based on the incremental mapping approach, with advantages of intuitive and natural operating process. Simulation experiment results proved the feasibility of the hybrid motion mapping strategy respectively.