使用Centauro机器人进行远程移动操作：全身临场感和自主操作员辅助
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
摘要：
解决难以接近和危险环境中的移动操作任务是机器人支持人类的重要应用。示例领域是在月球和其他行星上建造和维护载人和无人站。合适的平台需要灵活且鲁棒的硬件、允许在各种地形中导航的运动方法、灵巧的操纵能力以及相应的用户界面。我们提出了CENTAURO系统，它已被设计用于这些要求，并由Centauro机器人和一套先进的操作员界面与互补的力量，使系统能够解决广泛的现实移动操作任务。该机器人拥有一个半人半马的身体计划，并由扭矩控制的顺应性致动器驱动。四个铰接腿结束在转向轮允许全方位驾驶以及使步骤。一个拟人的上身，两个手臂结束在五指手，使人类一样的操纵。机器人通过一套多模态传感器感知环境。由此产生的平台复杂性超出了大多数已知系统的复杂性，这将重点放在合适的操作员界面上。操作员可以通过远程呈现套装控制机器人，这允许灵活地解决各种移动操作任务。不同自主水平的运动和操纵功能支持操作。所提出的用户界面使得能够解决各种各样的任务，而无需先前的特定于任务的培训。集成系统进行评估，在众多的遥控实验，以及所吸取的经验教训。
英文摘要：
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned.
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