Adaptive Mesh Architectures for Speckled Robots

The primary purpose of humanoid telepresence cyber-physical systems is to faithfully reproduce user intent in the remote robot. One of the main challenges lies in maintaining bipedal balance during complex behaviour such as walking, or negotiating obstacles whilst operating in a changing environment. The aim is to achieve this dynamic balance during human-controlled motion, and determine an effective solution to the humanoid telepresence problem by using a distributed sensing and actuation architecture. Preliminary results are presented for the stability of a Kondo KHR-1HV robot equipped with wireless motion capture Orient-2 sensors (each equipped with 3-axes gyroscope, magnetometer and accelerometer) for controlling six servos in the joints in the upper and lower legs and connected as a mesh, which demonstrate that distributed robotic control is better able to recover gracefully from command latency and local