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Switching-based mapping and control for haptic teleoperation of aerial robots

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3 Author(s)
Abeje Y. Mersha ; Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands ; Stefano Stramigioli ; Raffaella Carloni

This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The overall control architecture provides the possibility of changing the scaling factor of the mapping online, while preserving the passivity of the complete system. In our formulation, we use the port-Hamiltonian framework, in which energetic considerations play a determinant role for passivity and, thereby stability of the overall system. Simulation and experimental results illustrating the effectiveness of the proposed algorithm are also presented.

Published in:

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

7-12 Oct. 2012