D9.1 - Robust high-transparency haptic exploration for dexterous telemanipulation

Brief description of functionality/utility:

Research in haptic exploration by the Edinburgh team has focused on safe teleoperation in difficult circumstances, such as when robots are sent to unknown or challenging environments. One aim has been to maintain robust communication between operator and machine even when there are delays in communication, or communication bandwidths are low.

Other objectives include:

  • Teleoperation via robot legs
  • Increase scalability due to decoupled stability between the arms
  • Quadruped locomotion and interaction in extreme environments
  • Dynamics model-learning for safe control
  • Use of leg actuators as end effectors (arms)
  • Flexibility of exploiting the body to perform manipulation tasks