On bilateral teleoperation of aerial robots

A.Y. Mersha; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/TRO.2013.2281563

On bilateral teleoperation of aerial robots

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

Research output: Contribution to journal › Article › Academic › peer-review

37 Citations (Scopus)

Abstract

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 language	Undefined
Pages (from-to)	258-274
Number of pages	17
Journal	IEEE transactions on robotics
Volume	Vol. 30 Is
Issue number	1
DOIs	https://doi.org/10.1109/TRO.2013.2281563
Publication status	Published - Feb 2014

Keywords

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

Access to Document

10.1109/TRO.2013.2281563

Cite this

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