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Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator

Fialho Coelho, Andre and Singh, Harsimran and Kondak, Konstantin and Ott, Christian (2020) Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. ICRA 2020, 31. Mai. - 31. Aug. 2020, Paris, Frankreich. doi: 10.1109/ICRA40945.2020.9197028. ISBN 978-172817395-5. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9197028

Abstract

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reasonable solution. However, since most telemanipulation tasks require visual feedback in addition to the haptic one, real-time (task-dependent) positioning of a video camera, which is usually attached to the flying base, becomes an additional objective to be fulfilled. Since the flying base is part of the kinematic structure of the robot, if proper care is not taken, moving the video camera could undesirably disturb the end-effector motion. For that reason, the necessity of controlling the base position in the null space of the manipulation task arises. In order to provide the operator with meaningful information about the limits of the allowed motions in the null space, this paper presents a novel haptic concept called Null-Space Wall. In addition, a framework to allow stable bilateral teleoperation of both tasks is presented. Numerical simulation data confirm that the proposed framework is able to keep the system passive while allowing the operator to perform time-delayed telemanipulation and command the base to a task-dependent optimal pose.

Item URL in elib:https://elib.dlr.de/136184/
Document Type:Conference or Workshop Item (Speech)
Title:Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fialho Coelho, AndreAndre.Coelho (at) dlr.dehttps://orcid.org/0000-0002-0917-5574
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:31 May 2020
Journal or Publication Title:2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICRA40945.2020.9197028
Publisher:IEEE
ISSN:1050-4729
ISBN:978-172817395-5
Status:Published
Keywords:Aerial Manipulation, Telemanipulation, Whole-Body Control, Suspended Aerial Manipulator
Event Title:ICRA 2020
Event Location:Paris, Frankreich
Event Type:international Conference
Event Dates:31. Mai. - 31. Aug. 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Fialho Coelho, Andre
Deposited On:21 Sep 2020 18:59
Last Modified:11 Mar 2022 16:27

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