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Computer Science > Robotics

arXiv:2108.07658 (cs)
[Submitted on 17 Aug 2021 (v1), last revised 6 Dec 2021 (this version, v2)]

Title:Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays

Authors:Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter
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Abstract: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.
Comments: Accepted as Contributed Paper at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Best Paper Award Finalist
Subjects: Robotics (cs.RO); Systems and Control (eess.SY); Dynamical Systems (math.DS)
Cite as: arXiv:2108.07658 [cs.RO]
  (or arXiv:2108.07658v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.07658

Submission history

From: Mattia Risiglione [view email]
[v1] Tue, 17 Aug 2021 14:41:23 UTC (19,158 KB)
[v2] Mon, 6 Dec 2021 09:26:32 UTC (19,158 KB)
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