A novel approach to haptic tele-operation of aerial robot vehicles

Stefano Stramigioli; Robert Mahony; Peter Corke

doi:10.1109/ROBOT.2010.5509591

A novel approach to haptic tele-operation of aerial robot vehicles

Stefano Stramigioli, Robert Mahony, Peter Corke

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

49 Citations (Scopus)

Abstract

We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a `master' joystick to the infinite stroke of a `slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.

Original language	Undefined
Title of host publication	Robotics and Automation (ICRA), 2010 IEEE International Conference on
Place of Publication	USA
Publisher	IEEE ROBOTICS AND AUTOMATION SOCIETY
Pages	5302-5308
Number of pages	7
ISBN (Print)	978-1-4244-5038-1
DOIs	https://doi.org/10.1109/ROBOT.2010.5509591
Publication status	Published - 3 May 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States Duration: 3 May 2010 → 7 May 2010

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Abbreviated title	ICRA
Country	United States
City	Anchorage
Period	3/05/10 → 7/05/10

Keywords

IR-76736
METIS-275982
communications links
closed-loop system
inspection task
surveillance task
haptic tele-operation
network theory
aerial robot vehicles
Haptic feedback
CE-Advanced Robotics
EWI-20019
Port-Hamiltonian system

Cite this

Stramigioli, S., Mahony, R., & Corke, P. (2010). A novel approach to haptic tele-operation of aerial robot vehicles. In Robotics and Automation (ICRA), 2010 IEEE International Conference on (pp. 5302-5308). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ROBOT.2010.5509591

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title = "A novel approach to haptic tele-operation of aerial robot vehicles",

abstract = "We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a `master' joystick to the infinite stroke of a `slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.",

keywords = "IR-76736, METIS-275982, communications links, closed-loop system, inspection task, surveillance task, haptic tele-operation, network theory, aerial robot vehicles, Haptic feedback, CE-Advanced Robotics, EWI-20019, Port-Hamiltonian system",

author = "Stefano Stramigioli and Robert Mahony and Peter Corke",

note = "Controlled Indexing aerospace robotics , aircraft control , closed loop systems , surveillance , telerobotics",

year = "2010",

month = "5",

day = "3",

doi = "10.1109/ROBOT.2010.5509591",

language = "Undefined",

isbn = "978-1-4244-5038-1",

publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",

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Stramigioli, S, Mahony, R & Corke, P 2010, A novel approach to haptic tele-operation of aerial robot vehicles. in Robotics and Automation (ICRA), 2010 IEEE International Conference on. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 5302-5308, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509591

A novel approach to haptic tele-operation of aerial robot vehicles. / Stramigioli, Stefano; Mahony, Robert; Corke, Peter.

Robotics and Automation (ICRA), 2010 IEEE International Conference on. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2010. p. 5302-5308.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a `master' joystick to the infinite stroke of a `slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.

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Access to Document

10.1109/ROBOT.2010.5509591

http://eprints.eemcs.utwente.nl/secure2/20019/01/05509591.pdf