Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation
Guiyang Xin,Joshua Smith,David Rytz,Wouter Wolfslag,Hsiu-Chin Lin,Michael Mistry,Guiyang Xin,Joshua Smith,David Rytz,Wouter Wolfslag,Hsiu-Chin Lin,Michael Mistry
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employed to assist foot posture control via a hierarchical whole-body controller. The foot and torso postures are controlled by two analytical Cartesian imp...
