Research output per year
Research output per year
Mattia Risiglione, Jean Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
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 language | English |
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Title of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 5276-5281 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-6654-1714-3 |
ISBN (Print) | 978-1-6654-1715-0 |
DOIs | |
Publication status | Published - 2021 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021: from Wearable Robots to Neurorobotics - Online Conference, Czech Republic Duration: 27 Sept 2021 → 1 Oct 2021 |
Name | IEEE International Conference on Intelligent Robots and Systems |
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Publisher | IEEE |
Volume | 2021 |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Workshop | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 |
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Abbreviated title | IROS 2021 |
Country/Territory | Czech Republic |
City | Online Conference |
Period | 27/09/21 → 1/10/21 |
Research output: Working paper › Preprint › Academic