On bilateral teleoperation of aerial robots

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

    Research output: Contribution to journalArticleAcademicpeer-review

    36 Citations (Scopus)


    This paper presents a generic hierarchical passive teleoperation control architecture that effectively addresses the issues of workspace incompatibility and precision, as well as other classical and peculiar challenges. More specifically, the control scheme consists of a user-defined variable scale mapping, a variable impedance master controller, and a virtual slave system. The port-based modeling framework has been extensively used in our formulation, providing more insight about energetic flows in the system that are particularly useful for the design of a passive controlled system. Moreover, various practical considerations that are required for the effective usage of the control architecture are discussed. The achieved better precision and overall task performance have been validated and verified by elaborate simulations and experiments.
    Original languageUndefined
    Pages (from-to)258-274
    Number of pages17
    JournalIEEE transactions on robotics
    VolumeVol. 30 Is
    Issue number1
    Publication statusPublished - Feb 2014


    • METIS-300026
    • Port-based modeling
    • haptic tele-operation
    • EWI-23749
    • Aerial robots
    • variable impedance controller
    • variable scale mapping
    • virtual slave

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