A novel approach to haptic tele-operation of aerial robot vehicles


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Stramigioli, Stefano and Mahony, Robert and Corke, Peter (2010) A novel approach to haptic tele-operation of aerial robot vehicles. In: Robotics and Automation (ICRA), 2010 IEEE International Conference on , 3-7 May 2010, Anchorage, AK .

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Abstract:We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a `master' joystick to the infinite stroke of a `slave' vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.

Item Type:Conference or Workshop Item
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/76736
Official URL:http://dx.doi.org/10.1109/ROBOT.2010.5509591
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