摘要：Delay is a major challenge in teleoperation. To teleoperate a robot in real-time with specific human motion such as walking, prediction and compensation algorithms are needed to minimize the tracking delay. Human walking possesses the inherent features of synergy and quasi-periodicity with nonlinearity. By analyzing these features, three prediction methods were designed. A delay-coordinate phase space reconstruction method is based on the delay embedding theorem and uses the historical data. The echo prediction method uses data from the coupling joints of the other body side and takes the Euclidean distances in the delay-coordinate phase space reconstruction method for data search and match. The fused prediction method combines the delay-coordinate phase space reconstruction and echo prediction methods, uses the best matching historical data of the same joint and the corresponding joint of the other limb. These methods were implemented for teleoperation of an exoskeletal robot with inertial measurement unit measurements of human walking. The predicted trajectories were used to compensate the teleoperation delay and improve the robot tracking performance. Experimental results demonstrated that the fused method brought apparent improvement over other methods and can serve as a promising solution for time delay estimation, prediction, and compensation of human walking tracking and teleoperation.
关键词：Robot teleoperation; motion prediction; delay compensation; delay-coordinate phase space reconstruction; echo control; data fusion
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