The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we propose a comprehensive control framework for inspection and intervention using a legged robot and validate the integration of multiple loco-manipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical whole-body control, which is the key to the various task completion subject to internal and external constraints. We demonstrate the versatility of the whole-body control in terms of decoupling tasks, singularity tolerance and constraint satisfaction. We deploy our solution in field trials and evaluate in an emergency setting by an E-stop while the robot is clearing road barriers and traversing difficult terrains.

中文翻译：

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使用腿式机器人在工业环境中进行检查和干预的全身控制的可变自主性

在工业和民用场景中部署机器人是保护操作员免受危险和危害的可行解决方案。共享自治对于远程控制复杂系统（如腿式机器人）至关重要，使操作员能够专注于基本任务，而不是过于详细的执行。为了实现这一点，我们提出了一个使用腿式机器人进行检查和干预的综合控制框架，并验证了多个优化的本地操作算法的集成，以改进远程操作。建议的控制提供 3 种操作模式：全自动、半自主和触觉界面接收现场物理交互以辅助远程操作。我们的贡献是设计了基于 QP 的半解析全身控制，这是在内外约束条件下完成各项任务的关键。我们在解耦任务、奇异容忍度和约束满足方面展示了全身控制的多功能性。我们在现场试验中部署我们的解决方案，并在机器人清除道路障碍物和穿越困难地形时通过急停在紧急情况下进行评估。