Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

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 f...

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Detalles Bibliográficos
Autores: Martín-Barrio, Andrés, Roldán-Gómez, Juan Jesús, Rodríguez, Iván, Cerro, Jaime del, Barrientos, Antonio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2020
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/219164
Acceso en línea:http://hdl.handle.net/10261/219164
Access Level:acceso abierto
Palabra clave:Hyper-redundant
Robot
Design
Teleoperation
Mixed reality
Inspection
Industry 4.0
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spelling Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection TasksMartín-Barrio, AndrésRoldán-Gómez, Juan JesúsRodríguez, IvánCerro, Jaime delBarrientos, AntonioHyper-redundantRobotDesignTeleoperationMixed realityInspectionIndustry 4.0Hyper-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.This 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.Peer reviewedMolecular Diversity Preservation InternationalComunidad de MadridUniversidad Politécnica de MadridMartín-Barrio, Andrés [0000-0002-2051-9155]Roldán-Gómez, Juan Jesús [0000-0001-8863-4419]Cerro, Jaime del [0000-0003-4893-2571]Barrientos, Antonio [0000-0003-1691-3907]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202020202020info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/219164reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE#S2018/NMT-4331/RoboCity2030-DIH-CMhttp://dx.doi.org/10.3390/s20082181Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2191642026-05-22T06:33:51Z
dc.title.none.fl_str_mv Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
title Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
spellingShingle Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
Martín-Barrio, Andrés
Hyper-redundant
Robot
Design
Teleoperation
Mixed reality
Inspection
Industry 4.0
title_short Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
title_full Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
title_fullStr Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
title_full_unstemmed Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
title_sort Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
dc.creator.none.fl_str_mv Martín-Barrio, Andrés
Roldán-Gómez, Juan Jesús
Rodríguez, Iván
Cerro, Jaime del
Barrientos, Antonio
author Martín-Barrio, Andrés
author_facet Martín-Barrio, Andrés
Roldán-Gómez, Juan Jesús
Rodríguez, Iván
Cerro, Jaime del
Barrientos, Antonio
author_role author
author2 Roldán-Gómez, Juan Jesús
Rodríguez, Iván
Cerro, Jaime del
Barrientos, Antonio
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Comunidad de Madrid
Universidad Politécnica de Madrid
Martín-Barrio, Andrés [0000-0002-2051-9155]
Roldán-Gómez, Juan Jesús [0000-0001-8863-4419]
Cerro, Jaime del [0000-0003-4893-2571]
Barrientos, Antonio [0000-0003-1691-3907]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Hyper-redundant
Robot
Design
Teleoperation
Mixed reality
Inspection
Industry 4.0
topic Hyper-redundant
Robot
Design
Teleoperation
Mixed reality
Inspection
Industry 4.0
description 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.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/219164
url http://hdl.handle.net/10261/219164
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
S2018/NMT-4331/RoboCity2030-DIH-CM
http://dx.doi.org/10.3390/s20082181
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Molecular Diversity Preservation International
publisher.none.fl_str_mv Molecular Diversity Preservation International
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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