Cooperative aerial tele-manipulation with haptic feedback

Mostafa Mohammadi, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

27 Citations (Scopus)


In this paper, we propose a bilateral tele-operation scheme for cooperative aerial manipulation in which a human operator drives a team of Vertical Take-Off and Landing (VTOL) aerial vehicles, that grasped an object beforehand, and receives a force feedback depending on the states of the system. For application scenarios in which dexterous manipulation by each robot is not necessary, we propose using a rigid tool attached to the vehicle through a passive spherical joint, equipped with a simple adhesive mechanism at the tool-tip that can stick to the grasped object. Having more than two robots, we use the extra degrees of freedom to find the optimal force allocation in term of minimum power and forces smoothness. The human operator commands a desired trajectory for the robot team through a haptic interface to a pose controller, and the output of the pose controller along with system constraints, e.g., VTOL limited forces and contact maintenance, defines the feasible set of forces. Then, an on-line optimization allocates forces by minimizing a cost function of forces and their variation. Finally, propeller thrusts are computed by a dedicated attitude and thrust controller in a decentralized fashion. Human/Hardware in the loop simulation study shows efficiency of the proposed scheme, and the importance of haptic feedback to achieve a better performance.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of PublicationPiscataway, NJ
Number of pages7
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6, 978-1-5090-3761-2
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
Country/TerritoryKorea, Republic of
Internet address

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