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The deployment of robots in industrial and civil scenarios is a viablesolution to protect operators from danger and hazards. Shared autonomy isparamount to enable remote control of complex systems such as legged robots,allowing the operator to focus on the essential tasks instead of overlydetailed execution. To realize this, we propose a comprehensive controlframework for inspection and intervention using a legged robot and validate theintegration of multiple loco-manipulation algorithms optimised for improvingthe remote operation. The proposed control offers 3 operation modes: fullyautomated, semi-autonomous, and the haptic interface receiving onsite physicalinteraction for assisting teleoperation. Our contribution is the design of aQP-based semi-analytical whole-body control, which is the key to the varioustask completion subject to internal and external constraints. We demonstratethe versatility of the whole-body control in terms of decoupling tasks,singularity tolerance and constraint satisfaction. We deploy our solution infield trials and evaluate in an emergency setting by an E-stop while the robotis clearing road barriers and traversing difficult terrains.

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots