Dual-Master/Single-Slave Haptic Teleoperation System for Semiautonomous Bilateral Control of Hexapod Robot Subject to Deformable Rough Terrain
提出一种双主/单从力觉遥操作框架，通过半自主策略控制六足机器人在变形粗糙地形上行走，利用时域无源控制补偿足地滑移引起的非无源性，并设计姿态级双边控制器抑制振动，实验验证了系统的稳定性和透明性。
The increasing application requirements of multilegged walking robots in outdoor environments pose new challenges regarding the design of their teleoperation systems. Some of these challenges arise from the multiple degrees of freedom of the telerobotic system and nonpassive exogenous disturbance. Herein, a novel control system based on a dual-master/single-slave bilateral haptic teleoperation framework using a semiautonomous strategy for hexapod robots walking on deformable rough terrains is proposed. In this teleoperation system, the body velocities and postures of the hexapod robot are determined according to the positions of two haptic master robots. The proposed teleoperator includes a time-domain passivity control approach to compensate for the system’s potential nonpassivity induced by the contact slippage between the foot and the ground. Furthermore, a posture-level bilateral controller is designed to overcome the unpredictable posture vibration. Information about the velocity loss and posture error is displayed to the human operator in the form of haptic force. In the underlying controller of the slave robot, a foot-force optimization algorithm is developed to improve the local autonomy of the teleoperation system. Furthermore, the stability of the system is demonstrated by its passivity. Experimental results indicate that the proposed controllers can provide a stable and transparent bilateral haptic teleoperation system for a hexapod robot under environmental perturbations.