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Human life is invaluable. When dangerous or life-threatening tasks need to becompleted, robotic platforms could be ideal in replacing human operators. Sucha task that we focus on in this work is the Explosive Ordnance Disposal. Robottelepresence has the potential to provide safety solutions, given that mobilerobots have shown robust capabilities when operating in several environments.However, autonomy may be challenging and risky at this stage, compared to humanoperation. Teleoperation could be a compromise between full robot autonomy andhuman presence. In this paper, we present a relatively cheap solution fortelepresence and robot teleoperation, to assist with Explosive OrdnanceDisposal, using a legged manipulator (i.e., a legged quadruped robot, embeddedwith a manipulator and RGB-D sensing). We propose a novel system integrationfor the non-trivial problem of quadruped manipulator whole-body control. Oursystem is based on a wearable IMU-based motion capture system that is used forteleoperation and a VR headset for visual telepresence. We experimentallyvalidate our method in real-world, for loco-manipulation tasks that requirewhole-body robot control and visual telepresence.

TeLeMan: Teleoperation for Legged Robot Loco-Manipulation using Wearable IMU-based Motion Capture