A Single-arm Mode for Operating Steering Wheel in Robot Driving

To deal with the incompatibility of efficiency and versatility in steering wheel operation in robot driving task, this paper proposes a single-arm mode for versatile and efficient steering wheel operation. In order to identify the applicable mode in operating the steering wheel, the steering wheel operations of the humanoid arm under the grasping modes and pressing mode are compared by referring to the modes of human single-arm operation. In the comparison, a quadratic programming (QP) problem integrated with the collision-free control is constructed. The pressing mode is proved to be applicable by comparison, which is versatile and able to realize the efficient steering wheel operation. In the implementation, the control strategy is divided into three steps of identification, pressing and turning. The strategy is committed to the accurate trajectory and pressure in the operation. In the experiment, the humanoid robot completed the anthropomorphic operation of the steering wheel that is close to the human level. The effectiveness of the pressing mode and the control strategy for this mode is assessed.