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, Del Cerro, Jaime, Barrientos, Antonio
Tipo de recurso: artículo
Fecha de publicación:2020
País:España
Institución:Universidad Autónoma de Madrid
Repositorio:Biblos-e Archivo. Repositorio Institucional de la UAM
Idioma:inglés
OAI Identifier:oai:repositorio.uam.es:10486/702307
Acceso en línea:http://hdl.handle.net/10486/702307
https://dx.doi.org/10.3390/s20082181
Access Level:acceso abierto
Palabra clave:Design
Hyper-redundant
Industry 4.0
Inspection
Mixed reality
Robot
Teleoperation
Informática
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spelling Design of a hyper-redundant robot and teleoperation using mixed reality for inspection tasksMartín-Barrio, AndrésRoldán Gómez, Juan JesúsRodríguez, IvánDel Cerro, JaimeBarrientos, AntonioDesignHyper-redundantIndustry 4.0InspectionMixed realityRobotTeleoperationInformáticaHyper-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 applicationsThis research was funded by RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, and by the project VJIDOCUPM18JCG from Universidad Politécnica de MadridMDPIDepartamento de Ingeniería InformáticaEscuela Politécnica Superior20202020-04-12research articlehttp://purl.org/coar/resource_type/c_2df8fbb1VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10486/702307https://dx.doi.org/10.3390/s20082181reponame:Biblos-e Archivo. Repositorio Institucional de la UAMinstname:Universidad Autónoma de MadridInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:repositorio.uam.es:10486/7023072026-06-23T12:46:27Z
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
Design
Hyper-redundant
Industry 4.0
Inspection
Mixed reality
Robot
Teleoperation
Informática
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
Del Cerro, Jaime
Barrientos, Antonio
author Martín-Barrio, Andrés
author_facet Martín-Barrio, Andrés
Roldán Gómez, Juan Jesús
Rodríguez, Iván
Del Cerro, Jaime
Barrientos, Antonio
author_role author
author2 Roldán Gómez, Juan Jesús
Rodríguez, Iván
Del Cerro, Jaime
Barrientos, Antonio
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería Informática
Escuela Politécnica Superior
dc.subject.none.fl_str_mv Design
Hyper-redundant
Industry 4.0
Inspection
Mixed reality
Robot
Teleoperation
Informática
topic Design
Hyper-redundant
Industry 4.0
Inspection
Mixed reality
Robot
Teleoperation
Informática
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
2020-04-12
dc.type.none.fl_str_mv research article
http://purl.org/coar/resource_type/c_2df8fbb1
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10486/702307
https://dx.doi.org/10.3390/s20082181
url http://hdl.handle.net/10486/702307
https://dx.doi.org/10.3390/s20082181
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Biblos-e Archivo. Repositorio Institucional de la UAM
instname:Universidad Autónoma de Madrid
instname_str Universidad Autónoma de Madrid
reponame_str Biblos-e Archivo. Repositorio Institucional de la UAM
collection Biblos-e Archivo. Repositorio Institucional de la UAM
repository.name.fl_str_mv
repository.mail.fl_str_mv
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