Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays

Mattia Risiglione, Jean Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter

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

7 Citations (Scopus)
14 Downloads (Pure)


When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly addressed. In this work, we propose a passive control architecture to haptically teleoperate a legged mobile manipulator, while remaining stable in the presence of time delays and frequency mismatches in the master and slave controllers. At the master side, a discrete-time energy modulation of the control input is proposed. At the slave side, passivity constraints are included in an optimization-based whole-body controller to satisfy the energy limitations. A hybrid teleoperation scheme allows the human operator to remotely operate the robot's end-effector while in stance mode, and its base velocity in locomotion mode. The resulting control architecture is demonstrated on a quadrupedal robot with an artificial delay added to the network.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Place of PublicationPiscataway, NJ
Number of pages6
ISBN (Electronic)978-1-6654-1714-3
ISBN (Print)978-1-6654-1715-0
Publication statusPublished - 2021
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021: from Wearable Robots to Neurorobotics - Online Conference, Czech Republic
Duration: 27 Sept 20211 Oct 2021

Publication series

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


WorkshopIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Abbreviated titleIROS 2021
Country/TerritoryCzech Republic
CityOnline Conference


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