Robust high-transparency haptic exploration for dexterous telemanipulation

Babarahmati, Keyhan Kouhkiloui, Tiseo, Carlo, Rouxel, Quentin, Li, Zhibin and Mistry, Michael (2021) Robust high-transparency haptic exploration for dexterous telemanipulation. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 30 May - 5 June 2021. Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE ISSN 1050-4729

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Abstract

Robotic 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.

Item Type: Conference Proceedings
Additional Information: © 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 works
Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 28 Oct 2021 10:36
Last Modified: 04 Mar 2022 17:27
URI: http://sro.sussex.ac.uk/id/eprint/102538

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