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 proceedingConference contributionAcademicpeer-review

    9 Citations (Scopus)


    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 languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4673-1737-5
    Publication statusPublished - 7 Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012


    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    Internet address


    • Haptics
    • teleoperation
    • EWI-22819
    • areal vehicles
    • METIS-293286

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