The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Volker Grabe, Martin Riedel, Heinrich H. Bulthoff, Paolo Robuffo Giordano, Antonio Franchi

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

42 Citations (Scopus)

Abstract

The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

Original languageEnglish
Title of host publication2013 European Conference on Mobile Robots, ECMR 2013
Subtitle of host publicationConference Proceedings
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages19-25
Number of pages7
ISBN (Electronic)978-1-4799-0263-7
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain
Duration: 25 Sep 201327 Sep 2013
Conference number: 6

Conference

Conference6th European Conference on Mobile Robots, ECMR 2013
Abbreviated titleECMR
CountrySpain
CityBarcelona
Period25/09/1327/09/13

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