Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with haptic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energy-tanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot.

Passive task-prioritized shared-control teleoperation with haptic guidance / Selvaggio, M.; Robuffo Giordano, P.; Ficuciello, F.; Siciliano, B.. - (2019), pp. 430-436. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8794197].

Passive task-prioritized shared-control teleoperation with haptic guidance

Selvaggio M.;Ficuciello F.;Siciliano B.
2019

Abstract

Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with haptic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energy-tanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot.
2019
978-1-5386-6027-0
Passive task-prioritized shared-control teleoperation with haptic guidance / Selvaggio, M.; Robuffo Giordano, P.; Ficuciello, F.; Siciliano, B.. - (2019), pp. 430-436. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8794197].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/821737
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