Development of a Teleoperative Quadrupedal Manipulator

This paper outlines the design and operation of a teleoperated quadrupedal robot enhanced with manipulator arm gripper. Using mobile quadruped platform Laikago, ViperX 300 wearable inertia based motion capture system, low-cost was assembled capable hybrid control to allow seamless intuitive human interface. Vision for user is provided through 3D camera mounted at front stereo on end-effector. The fully controllable using inertial suit. To verify functionality whole system prior testing real robot, physical simulations were conducted successfully demonstrated capabilities proposed teleoperation framework.