New trends in legged robots teleoperation

摘要

This paper considers legged robot teleoperation using advanced supervisory tools. It is nowadays recognized that designing completely autonomous robots to act in unstructured or not well known environments is a utopic goal. The human operator must be kept in the control loop (supervision) during the exploratory or manipulation procedure. We propose to use virtual reality (VR) technology to enhance human-legged robot control. However, contrary to other robot (arm, gripper) teleoperation, the sensory data feedback are an interpretation of robot sensors information and an adequate sensory substitution. Preliminary results on true robot teleoperation is presented, results are discussed.