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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

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.

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fialho Coelho, AndreAndre.Coelho (at) dlr.dehttps://orcid.org/0000-0002-0917-5574
Sarkisov, IuriiIurii.Sarkisov (at) dlr.deUNSPECIFIED
Wu, XuweiXuwei.Wu (at) dlr.deUNSPECIFIED
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Franchi, Antonioa.franchi (at) utwente.nlhttps://orcid.org/0000-0002-5670-1282
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:20 April 2021
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:102
DOI :10.1007/s10846-021-01365-7
Publisher:Springer
Series Name:Topical collection on ICAR 2019 Special Issue
ISSN:0921-0296
Status:Published
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:20 Apr 2022 03:00

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