A digital twin-based quadruped robot system with scene perception, fast communication, and holographic interaction

This paper develops a quadruped robot virtual-real interactive control system based on digital twin technology. The system is designed to address key challenges in robotics technology, including real-time performance, low-latency control, high-precision multi-sensor data fusion, stable network transmission, data security, user-friendly interaction interface, system scalability, and maintainability. The system comprises a number of functional modules, including a 3D modeling module, a positioning perception module, a virtual interaction module, a wise sensing-transmission module, and a cloud server. The 3D modeling module is responsible for constructing the virtual quadruped robot and motion space scenarios. The positioning perception module integrates LiDAR and Inertial Measurement Unit (IMU) data, utilizing Point-LIO and HDL-localization algorithms for high-precision environmental perception and positioning. The virtual interaction module provides a user-friendly control interface through computer software and the HoloLens headset. The wise sensing-transmission module employs WiFi and 5G links to ensure low-latency and high-bandwidth data transmission, and employs libhv and libssl asynchronous IO and network security cryptographic libraries to guarantee data security. The system is designed to run on the Ubuntu 20.04 platform, offering excellent scalability and maintainability. This system has broad application prospects in industrial manufacturing, construction, disaster rescue, military applications, and educational training. It enhances the performance and reliability of quadruped robot systems and lays a solid foundation for the future development of the industrial metaverse.