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


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 (pp. pp. 5302-5308).

[img] PDF
Restricted to UT campus only
: Request a copy
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
Additional information:Controlled Indexing aerospace robotics , aircraft control , closed loop systems , surveillance , telerobotics
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/76736
Official URL:https://doi.org/10.1109/ROBOT.2010.5509591
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page