HyQReal: Hydraulic two-arm telepresence robot for hazardous work
The two-armed telepresence robot HyQReal is designed to help wherever it is too dangerous for humans. It has a sophisticated control system for this purpose.
At 140 kg, the HyQReal is solid and stable. It is controlled by an operator with an immersive telepresence system.
(Image: IIT)
Researchers at the Instituto Italiano di Technologia (IIT) have developed a four-legged hydraulic robot with two arms on its head that can be deployed remotely in dangerous areas. The robot, called HyQReal, is an old acquaintance. Back in 2019, the robot demonstrated its strength by pulling a 3.3-ton aircraft behind it.
Hydraulic robots have actually gone somewhat out of fashion. They have often been replaced by robots with electric actuators. The reason for this is simple: hydraulics are complicated, prone to errors and – loud. However, it has the advantage of developing high dynamics and power. Wherever powerful robots are needed, this type of drive still has an advantage over electric systems.
The 140 kg, 1.35 m long HyQReal has four hydraulically driven legs. The torque generated per leg is up to 300 Nm. The hydraulics are powered by on-board batteries, which supply a maximum of 4 kW. Two lateral, also hydraulically driven arms are attached to the head of the robot. They weigh 10 kg each. This enables the robot to lift payloads of up to 5 kg per arm. The tools for the movable arms are interchangeable. In addition to multi-fingered grippers, drills or special tools can also be mounted.
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As HyQReal is intended for use in harsh environments, it has a solid overall design. In addition to a stable metal platform, it has an aluminum roll cage and a Kevlar shell.
“The development of centralized propulsion techniques with high performance, low weight and advanced control was a crucial factor in our efforts,” says Nikos Tsagarakis, head of the HHCM lab at IIT. “These techniques have enabled us to realize a bimanual manipulation system with low weight, high payload and large working range, suitable for integration into HyQReal.”
Haptic teleoperation system
The robot is controlled via a haptic teleoperation system specially developed for the application, which is embedded in a fully immersive virtual reality (VR) environment. The operator wears VR goggles to which the field of view of the stereo cameras attached to the robot is transmitted. This allows the operator to see every single operation they perform in real time.
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The robot is operated via a 3-dimensional control unit that can be moved freely in space. The control system is designed in such a way that the robot joints and their limits are considered. This means that it is not necessary to readjust the control unit if a joint stops, for example. The control signals are transmitted to the robot wirelessly and can be implemented over long distances via an internet connection.
The HyQReal is intended for use in hazardous areas, such as firefighting operations and missions in disaster zones. A one-armed preliminary version of the robot was already used in a simulated tunnel fire in 2022. The robot extinguished the fire without coming to any harm itself. However, the telepresence robot can also be used for clearing rubble and removing hazardous materials, which would be too dangerous for humans.
(olb)
