Design of a hyper-redundant robot and teleoperation using mixed reality for inspection tasks
EntityUAM. Departamento de Ingeniería Informática
10.3390/s20082181Sensors 20.8 (2020): 2181
Funded byThis research was funded by RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, and by the project VJIDOCUPM18JCG from Universidad Politécnica de Madrid
ProjectComunidad de Madrid. ROBOCITY2030-DIH-CM
SubjectsDesign; Hyper-redundant; Industry 4.0; Inspection; Mixed reality; Robot; Teleoperation; Informática
Rights© The author(s)
Esta obra está bajo una Licencia Creative Commons Atribución 4.0 Internacional.
Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications
Google Scholar:Martín-Barrio, Andrés - Roldán Gómez, Juan Jesús - Rodríguez, Iván - Del Cerro, Jaime - Barrientos, Antonio
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Lima, Matheus Cardim Ferreira; Krus, Anne; Valero, Constantino; Barrientos, Antonio; Cerro, Jaime del; Roldán-Gómez, Juan Jesús