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Human-In-The-Loop Control of a Bipedal Robot with Variable Levels of Autonomy
Dane Powell
Rice University


Dane Powell
Bipedal robots have a growing presence in space exploration and industrial applications because they can more easily and safely perform complex tasks in environments designed for human users than their traditional mobile wheeled counterparts. However, the increased number of degrees of actuation and sensing make bipedal robots unwieldy for human operators to directly teleoperate. The objective of this study is to design, implement, and test interfaces that will allow human operators to efficiently generate movement patterns for, gather feedback from, and moderate such robots at levels ranging from individual joints to multiple robots.