Design, Implementation, and Cooperative Coevolution of an Autonomous/ Teleoperated Control System for a Serpentine Robotic Manipulator

TL;DR

This paper presents the design and implementation of a control system for a serpentine robotic manipulator, enabling autonomous and teleoperated operation with high dexterity in enclosed environments.

Contribution

It introduces a novel control architecture combining low-level joint control and high-level end-effector coordination for serpentine robots.

Findings

Achieved autonomous control within enclosed environments.

Developed a dual-mode control system for autonomous and teleoperation.

Enhanced dexterity and precision in manipulator operations.

Abstract

Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic manipulatorduring operation of the manipulator within an enclosed environment such as an underground storage tank. The controller algorithms make use of both low-level joint angle control employing force/position feedback constraints, and high-level coordinated control of end-effector positioning. This approach has resulted in both high-level full robotic control and low-level telerobotic control modes, and provides a high level of dexterity for the operator.