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Fractal_Impedance_for_Passive_Controllers_in_Bilateral_Telemanipulation.pdf (9.46 MB)

Robust high-transparency haptic exploration for dexterous telemanipulation

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conference contribution
posted on 2023-06-10, 01:33 authored by Keyhan Kouhkiloui Babarahmati, Carlo TiseoCarlo Tiseo, Quentin Rouxel, Zhibin Li, Michael Mistry
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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

2021 IEEE International Conference on Robotics and Automation (ICRA)

ISSN

1050-4729

Publisher

IEEE

Event name

IEEE International Conference on Robotics and Automation (ICRA)

Event location

Xi'an, China

Event type

conference

Event date

30 May - 5 June 2021

Department 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 works

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2021-10-28

First Open Access (FOA) Date

2021-10-28

First Compliant Deposit (FCD) Date

2021-10-28

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