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

Stefano Stramigioli, Robert Mahony, Peter Corke

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-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 languageUndefined
    Title of host publicationRobotics and Automation (ICRA), 2010 IEEE International Conference on
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5302-5308
    Number of pages7
    ISBN (Print)978-1-4244-5038-1
    DOIs
    Publication statusPublished - 3 May 2010
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States
    Duration: 3 May 20107 May 2010

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Abbreviated titleICRA
    CountryUnited States
    CityAnchorage
    Period3/05/107/05/10

    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