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Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation

Fialho Coelho, Andre and Sarkisov, Iurii and Wu, Xuwei and Mishra, Hrishik and Singh, Harsimran and Dietrich, Alexander and Franchi, Antonio and Kondak, Konstantin and Ott, Christian (2021) Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. Journal of Intelligent & Robotic Systems, 102 (14). Springer. doi: 10.1007/s10846-021-01365-7. ISSN 0921-0296.

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Official URL: https://link.springer.com/article/10.1007/s10846-021-01365-7


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.

Item URL in elib:https://elib.dlr.de/144228/
Document Type:Article
Title:Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fialho Coelho, AndreUNSPECIFIEDhttps://orcid.org/0000-0002-0917-5574UNSPECIFIED
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Singh, HarsimranUNSPECIFIEDhttps://orcid.org/0000-0002-6735-9945UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Franchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0002-5670-1282UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:20 April 2021
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Series Name:Topical collection on ICAR 2019 Special Issue
Keywords:Teleoperation, Redundant Robots, Whole-Body Control, Aerial Manipulation, Passivity
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
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:12 Oct 2021 11:00
Last Modified:29 Mar 2023 00:00

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