Electromyography (EMG) based quadruped robot telemanipulation

Abstract

In this work, we present a demonstration of gesture-based telemanipulation of a quadruped robot using surface electromyography (sEMG) signals. sEMG signals acquired through two differential channels of electrodes placed on lower forearm of a subject are used to control a customized version of the Stanford Pupper quadruped robot. The architecture chosen for encoding the hand gestures to type of motion results in perfect accuracy of executing the desired motion, with an average delay of 0.3s upon receiving the command.