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

AuthorsMartín-Barrio, Andrés; Roldán-Gómez, Juan Jesús; Rodríguez, Iván ; Cerro, Jaime del ; Barrientos, Antonio
Mixed reality
Industry 4.0
Issue Date12-Apr-2020
PublisherMolecular Diversity Preservation International
CitationSensors 20 (8): 2181 (2020)
AbstractHyper-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.
Publisher version (URL)http://dx.doi.org/10.3390/s20082181
Appears in Collections:(CAR) Artículos
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