A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot †

In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.