COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots
This paper presents a controller for step-by-step teleoperation of bipedal robots, in which the user commands the robot's foot motions in a step-by-step manner through a pair of handheld 3-dimensional pointing devices. The proposed controller is intended to allow users to precisely manipulate t...
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| Veröffentlicht in: | IEEE access 2023-01, Vol.11, p.1-1 |
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| creator | Zhang, Yachen Kikuuwe, Ryo |
| description | This paper presents a controller for step-by-step teleoperation of bipedal robots, in which the user commands the robot's foot motions in a step-by-step manner through a pair of handheld 3-dimensional pointing devices. The proposed controller is intended to allow users to precisely manipulate the swing foot motions to traverse rough terrains by avoiding obstacles. It aims to realize quick response to user commands and stable automatic balancing even under erroneous user commands. The main components of the proposed controller are a COM (center-of-mass) shifter and a body rotator, which are simple sensory feedback controllers that do not involve first-in first-output (FIFO) buffers, time-series generation, or online optimization. The COM shifter is a controller to produce a COM motion according to a reference zero moment point (ZMP). The body rotator complements the COM shifter to produce an appropriate angular momentum rate to enhance the regulation of ZMP. The proposed controller is validated in our interactive/realtime simulation environment. |
| doi_str_mv | 10.1109/ACCESS.2023.3256720 |
| format | Article |
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The proposed controller is intended to allow users to precisely manipulate the swing foot motions to traverse rough terrains by avoiding obstacles. It aims to realize quick response to user commands and stable automatic balancing even under erroneous user commands. The main components of the proposed controller are a COM (center-of-mass) shifter and a body rotator, which are simple sensory feedback controllers that do not involve first-in first-output (FIFO) buffers, time-series generation, or online optimization. The COM shifter is a controller to produce a COM motion according to a reference zero moment point (ZMP). The body rotator complements the COM shifter to produce an appropriate angular momentum rate to enhance the regulation of ZMP. The proposed controller is validated in our interactive/realtime simulation environment.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2023.3256720</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Angular momentum ; bipedal robots ; cart-flywheel-table model ; Commands ; Feedback control ; Interactive control ; Legged locomotion ; Obstacle avoidance ; Optimization ; Planning ; Robot dynamics ; Robot kinematics ; Robots ; Sensory feedback ; Task analysis ; Teleoperation ; Teleoperators</subject><ispartof>IEEE access, 2023-01, Vol.11, p.1-1</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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The proposed controller is intended to allow users to precisely manipulate the swing foot motions to traverse rough terrains by avoiding obstacles. It aims to realize quick response to user commands and stable automatic balancing even under erroneous user commands. The main components of the proposed controller are a COM (center-of-mass) shifter and a body rotator, which are simple sensory feedback controllers that do not involve first-in first-output (FIFO) buffers, time-series generation, or online optimization. The COM shifter is a controller to produce a COM motion according to a reference zero moment point (ZMP). The body rotator complements the COM shifter to produce an appropriate angular momentum rate to enhance the regulation of ZMP. The proposed controller is validated in our interactive/realtime simulation environment.</description><subject>Angular momentum</subject><subject>bipedal robots</subject><subject>cart-flywheel-table model</subject><subject>Commands</subject><subject>Feedback control</subject><subject>Interactive control</subject><subject>Legged locomotion</subject><subject>Obstacle avoidance</subject><subject>Optimization</subject><subject>Planning</subject><subject>Robot dynamics</subject><subject>Robot kinematics</subject><subject>Robots</subject><subject>Sensory feedback</subject><subject>Task analysis</subject><subject>Teleoperation</subject><subject>Teleoperators</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUU1Lw0AQDaJg0f4CPQQ8p-5Hdjd7bEPVQkvB1POyHxNNqd242R76701NkQ4MMzzeezPwkuQBownGSD5Py3JeVROCCJ1Qwrgg6CoZEcxlRhnl1xf7bTLuui3qq-ghJkbJqlyv0uqrqSOEVO9dOvPumL77qKMPad13FaHNzDE7zXQDO_AtBB0bv099nc6aFpze9QrjY3ef3NR618H4PO-Sj5f5pnzLluvXRTldZpYyGTNRUFJYLImw2mmKc8lA4Bw5QTlltQBtEBeCWsOsBM6RcYbjXBSIGG2NpnfJYvB1Xm9VG5pvHY7K60b9AT58Kh1iY3eghKtRXginjUU5lrSwNWM0N1KCQ86I3utp8GqD_zlAF9XWH8K-f18RUcicM56fWHRg2eC7LkD9fxUjdYpBDTGoUwzqHEOvehxUDQBcKBAvsOT0F2MfgeQ</recordid><startdate>20230101</startdate><enddate>20230101</enddate><creator>Zhang, Yachen</creator><creator>Kikuuwe, Ryo</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>ESBDL</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7SR</scope><scope>8BQ</scope><scope>8FD</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>DOA</scope><orcidid>https://orcid.org/0000-0003-4818-2563</orcidid><orcidid>https://orcid.org/0000-0002-1500-6777</orcidid></search><sort><creationdate>20230101</creationdate><title>COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots</title><author>Zhang, Yachen ; Kikuuwe, Ryo</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c359t-78328c1927cada31495e7140d73635f7eab06773cb5c9e660bdb6147802bacba3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Angular momentum</topic><topic>bipedal robots</topic><topic>cart-flywheel-table model</topic><topic>Commands</topic><topic>Feedback control</topic><topic>Interactive control</topic><topic>Legged locomotion</topic><topic>Obstacle avoidance</topic><topic>Optimization</topic><topic>Planning</topic><topic>Robot dynamics</topic><topic>Robot kinematics</topic><topic>Robots</topic><topic>Sensory feedback</topic><topic>Task analysis</topic><topic>Teleoperation</topic><topic>Teleoperators</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhang, Yachen</creatorcontrib><creatorcontrib>Kikuuwe, Ryo</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE Open Access Journals</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>DOAJ Directory of Open Access Journals</collection><jtitle>IEEE access</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Zhang, Yachen</au><au>Kikuuwe, Ryo</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2023-01-01</date><risdate>2023</risdate><volume>11</volume><spage>1</spage><epage>1</epage><pages>1-1</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>This paper presents a controller for step-by-step teleoperation of bipedal robots, in which the user commands the robot's foot motions in a step-by-step manner through a pair of handheld 3-dimensional pointing devices. The proposed controller is intended to allow users to precisely manipulate the swing foot motions to traverse rough terrains by avoiding obstacles. It aims to realize quick response to user commands and stable automatic balancing even under erroneous user commands. The main components of the proposed controller are a COM (center-of-mass) shifter and a body rotator, which are simple sensory feedback controllers that do not involve first-in first-output (FIFO) buffers, time-series generation, or online optimization. The COM shifter is a controller to produce a COM motion according to a reference zero moment point (ZMP). The body rotator complements the COM shifter to produce an appropriate angular momentum rate to enhance the regulation of ZMP. The proposed controller is validated in our interactive/realtime simulation environment.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2023.3256720</doi><tpages>1</tpages><orcidid>https://orcid.org/0000-0003-4818-2563</orcidid><orcidid>https://orcid.org/0000-0002-1500-6777</orcidid><oa>free_for_read</oa></addata></record> |
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| source | IEEE Open Access Journals; DOAJ Directory of Open Access Journals; Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals |
| subjects | Angular momentum bipedal robots cart-flywheel-table model Commands Feedback control Interactive control Legged locomotion Obstacle avoidance Optimization Planning Robot dynamics Robot kinematics Robots Sensory feedback Task analysis Teleoperation Teleoperators |
| title | COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots |
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