Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots

A.Y. Mersha; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/IROS.2012.6385457

Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

10 Citations (Scopus)

Abstract

This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The overall control architecture provides the possibility of changing the scaling factor of the mapping online, while preserving the passivity of the complete system. In our formulation, we use the port- Hamiltonian framework, in which energetic considerations play a determinant role for passivity and, thereby stability of the overall system. Simulation and experimental results illustrating the effectiveness of the proposed algorithm are also presented.

Original language	Undefined
Title of host publication	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE
Pages	2629-2634
Number of pages	6
ISBN (Print)	978-1-4673-1737-5
DOIs	https://doi.org/10.1109/IROS.2012.6385457
Publication status	Published - 7 Oct 2012
Event	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 http://www.iros2012.org/site/

Conference

Conference	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
Abbreviated title	IROS 2012
Country/Territory	Portugal
City	Vilamoura
Period	7/10/12 → 12/10/12
Internet address	http://www.iros2012.org/site/

Keywords

Haptics
teleoperation
EWI-22819
areal vehicles
METIS-293286

Access to Document

10.1109/IROS.2012.6385457

Cite this

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title = "Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots",

abstract = "This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The overall control architecture provides the possibility of changing the scaling factor of the mapping online, while preserving the passivity of the complete system. In our formulation, we use the port- Hamiltonian framework, in which energetic considerations play a determinant role for passivity and, thereby stability of the overall system. Simulation and experimental results illustrating the effectiveness of the proposed algorithm are also presented.",

keywords = "Haptics, teleoperation, EWI-22819, areal vehicles, METIS-293286",

author = "A.Y. Mersha and Stefano Stramigioli and Raffaella Carloni",

note = "10.1109/IROS.2012.6385457 ; IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

year = "2012",

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doi = "10.1109/IROS.2012.6385457",

language = "Undefined",

isbn = "978-1-4673-1737-5",

pages = "2629--2634",

booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",

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Mersha, AY, Stramigioli, S & Carloni, R 2012, Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 2629-2634, IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385457

Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots. / Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. USA: IEEE, 2012. p. 2629-2634.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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