IEEE Robotics & Automation Magazine - December 2019 - 102
Both hands are equipped with position and current sensors
on their motors to reconstruct the applied grasp force. Addi-
tionally, the hands' fingertips can be conveniently equipped
with IMUs to allow for the estimation of contact events and
surface roughness, as described in [18]. Each actuation mod-
ule is equipped with three position sensors (on the two prime
movers and on the output shaft) to measure the spring deflec-
tion. This measurement can be used to estimate the torque
applied by each motor and, in turn, to estimate the external
wrenches applied to the end effectors, using the least-square
approach explained in [19].
Visual
Output
Input
Mechatronics, Software, and Communication
Architecture
ALTER-EGO is equipped with a computational unit (NUC i5
compact computer) for managing the control architecture,
vision streaming, and compression algorithms. The low-level
communication layer between the actuation units, wheels, sen-
sors, and end effectors is based on an RS485 protocol (2 Mb/s).
The robot is equipped with two 24-V batteries that have a
total capacity of 48,000 mAh and a peak current of 100 A. A
dedicated 12-V battery with a total capacity of 30,000 mAh is
used to supply the computational units.
The ALTER-EGO software architecture is organized into
four layers, as displayed in Figure 2(d). The first layer is con-
stituted by the firmware running in each board used to con-
trol the joints, end effectors, motor wheels, and sensors. A
second layer, also embedded in the electronic boards, manag-
es the communication bus among the different devices that
constitute the robot's hardware. A third software layer (i.e., an
application programming interface) supports the communi-
cation between the second layer and the ROS modules. Each
ROS module manages the nodes used for the base motion,
balancing, arms-IK, feedforward gravity compensation, end-
effector wrench estimation, localization, mapping, navigation,
and vision. Finally, a fourth layer is used to communicate with
the pilot station and manages the robot in both autonomous
and teleoperated modes.
(a)
(b)
Stereo Vision Data
Oculus VR
Headset
Head Orientation
Arm Joint Positions
Myo
Armband
Hands Closure
Arm Stiffness
IMU
Touch Feedback
Haptic
Feedback
Velocity Reference
Wii Balance
Board
(c)
Figure 5. (a) ALTER-EGO's input and output interfaces. (b) The pilot station used for autonomous and teleoperation mode and (c) the
pilot station used for immersive teleoperation mode.
102
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IEEE ROBOTICS & AUTOMATION MAGAZINE
*
DECEMBER 2019
IEEE Robotics & Automation Magazine - December 2019
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