TY - GEN
T1 - Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
AU - Risiglione, Mattia
AU - Sleiman, Jean Pierre
AU - Minniti, Maria Vittoria
AU - Cizmeci, Burak
AU - Dresscher, Douwe
AU - Hutter, Marco
N1 - Funding Information:
This research was supported in part by the Swiss National Science Foundation through the National Centre of Competence in Research Robotics (NCCR Robotics), in part by the Swiss National Science Foundation through the National Centre of Competence in Digital Fabrication (NCCR dfab), in part by TenneT, and in part by Armasuisse Science and Technology.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - 2023 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85124342738&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636642
DO - 10.1109/IROS51168.2021.9636642
M3 - Conference contribution
AN - SCOPUS:85124342738
SN - 978-1-6654-1715-0
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5276
EP - 5281
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - IEEE
CY - Piscataway, NJ
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -