Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Paul Evrard; Nicolas Mansard; Olivier Stasse; Abderrahmane Kheddar; Thomas Schauß; Carolina Weber; Angelika Peer; Martin Buss

doi:10.1109/IROS.2009.5354412

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Paul Evrard, Nicolas Mansard, Olivier Stasse, Abderrahmane Kheddar, Thomas Schauß, Carolina Weber, Angelika Peer, Martin Buss

Chair of Automatic Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	5635-5640
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354412
State	Published - 11 Dec 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 11 Oct 2009 → 15 Oct 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	11/10/09 → 15/10/09

Access to Document

10.1109/IROS.2009.5354412

Cite this

Evrard, P., Mansard, N., Stasse, O., Kheddar, A., Schauß, T., Weber, C., Peer, A., & Buss, M. (2009). Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 5635-5640). Article 5354412 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354412

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title = "Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot",

abstract = "This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration.",

author = "Paul Evrard and Nicolas Mansard and Olivier Stasse and Abderrahmane Kheddar and Thomas Schau{\ss} and Carolina Weber and Angelika Peer and Martin Buss",

year = "2009",

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doi = "10.1109/IROS.2009.5354412",

language = "English",

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pages = "5635--5640",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

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Evrard, P, Mansard, N, Stasse, O, Kheddar, A, Schauß, T, Weber, C, Peer, A & Buss, M 2009, Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354412, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 5635-5640, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 11/10/09. https://doi.org/10.1109/IROS.2009.5354412

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. / Evrard, Paul; Mansard, Nicolas; Stasse, Olivier et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5635-5640 5354412 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Evrard, Paul

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AU - Stasse, Olivier

AU - Kheddar, Abderrahmane

AU - Schauß, Thomas

AU - Weber, Carolina

AU - Peer, Angelika

AU - Buss, Martin

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AB - This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration.

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Evrard P, Mansard N, Stasse O, Kheddar A, Schauß T, Weber C et al. Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5635-5640. 5354412. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). doi: 10.1109/IROS.2009.5354412

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

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