Fractal_Impedance_for_Passive_Controllers_in_Bilateral_Telemanipulation.pdf (9.46 MB)
Robust high-transparency haptic exploration for dexterous telemanipulation
conference contribution
posted on 2023-06-10, 01:33 authored by Keyhan Kouhkiloui Babarahmati, Carlo TiseoCarlo Tiseo, Quentin Rouxel, Zhibin Li, Michael MistryRobotic teleoperation provides human-in-the-loop capabilities of complex manipulation tasks in dangerous or remote environments, such as for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for guaranteeing stability. Compared to a traditional impedance controller in ideal conditions (no delays and maximum communication bandwidth), our proposed method yields higher transparency in interaction and demonstrates superior dexterity and capability in our telemanipulation test scenarios. We also validate its performance with extreme delays up to 1 s and communication bandwidths as low as 10 Hz. All results validate a consistent stability when using the proposed controller in challenging conditions, regardless of operator expertise.
History
Publication status
- Published
File Version
- Accepted version
Journal
2021 IEEE International Conference on Robotics and Automation (ICRA)ISSN
1050-4729Publisher
IEEEExternal DOI
Event name
IEEE International Conference on Robotics and Automation (ICRA)Event location
Xi'an, ChinaEvent type
conferenceEvent date
30 May - 5 June 2021Department affiliated with
- Engineering and Design Publications
Notes
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-10-28First Open Access (FOA) Date
2021-10-28First Compliant Deposit (FCD) Date
2021-10-28Usage metrics
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