This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation / Coelho, A.; Sarkisov, Y.; Wu, X.; Mishra, H.; Singh, H.; Dietrich, A.; Franchi, A.; Kondak, K.; Ott, C.. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - 102:1(2021). [10.1007/s10846-021-01365-7]
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
Franchi A.;
2021
Abstract
This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.