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Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control Michael Panzirsch1,2, Harsimran Singh1, Martin Stelzer1, Martin J. Schuster1, Christian Ott1, Manuel Ferre2

Panzirsch, Michael and Singh, Harsimran and Stelzer, Martin and Schuster, Martin J. and Ott, Christian and Ferre, Manuel (2018) Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control Michael Panzirsch1,2, Harsimran Singh1, Martin Stelzer1, Martin J. Schuster1, Christian Ott1, Manuel Ferre2. In: IEEE Intelligent Vehicles Symposium, Proceedings. IEEE Inteligent Vehicels Symposium, 26.-29. Juni 2018, Changshu, China.

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Abstract

Despite the substantial progression of autonomous driving systems, their application is often limited e.g. due to safety margins which can be caused by uncertainties in the environment reconstruction. Then, via teleoperation as a fallback solution, a human-in-the-loop can be introduced as the main decision maker. However, high delay in the communication channel distorts the performance of direct force Feedback teleoperation for example in space or disaster scenarios. On the other hand, model-mediated teleoperation can provide instantaneous and even predictive force feedback to the user, but the performance is limited due to state mismatches, incomplete models, model errors and the modeling challenges of complex wheel-ground contacts. Therefore, in this paper we ntroduce the concept of extended model-mediated eleoperation with a car like interface for mobile robots by fusing local fictitious and remote force feedback, which can be measured, computed or fictitious. We provide a method to guarantee stability of the extended model-mediated teleoperation (involving time delay, multilateral coupling, fictitious force feedback and permanent updates of the local model) based on the passivity theorem. The benefits of the approach are highlighted by human-in-the-loop experiments with a wheeled mobile robot.

Item URL in elib:https://elib.dlr.de/121036/
Document Type:Conference or Workshop Item (Poster)
Title:Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control Michael Panzirsch1,2, Harsimran Singh1, Martin Stelzer1, Martin J. Schuster1, Christian Ott1, Manuel Ferre2
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Stelzer, Martinmartin.stelzer (at) dlr.deUNSPECIFIED
Schuster, Martin J.martin.schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Date:29 June 2018
Journal or Publication Title:IEEE Intelligent Vehicles Symposium, Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:model-mediated teleoperation, time delay, force feedback fusion, TDPA
Event Title:IEEE Inteligent Vehicels Symposium
Event Location:Changshu, China
Event Type:international Conference
Event Dates:26.-29. Juni 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:10 Sep 2018 13:34
Last Modified:31 Jul 2019 20:18

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