A Novel Approach to Haptic Tele-operation of Aerial Robot Vehicles
Data(s) |
01/05/2010
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Resumo |
We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot’s state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a ‘master’ joystick to the infinite stroke of a ‘slave’ vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data |
Identificador | |
Publicador |
IEEE |
Relação |
DOI:10.1109/ROBOT.2010.5509591 Stramagioli, Stefano, Mahony, Robert, & Corke, Peter (2010) A Novel Approach to Haptic Tele-operation of Aerial Robot Vehicles. In Proceedings 2010 IEEE Conference on Robotics and Automation (ICRA), IEEE, Anchorage, Alaska, pp. 5302-5308. |
Direitos |
Copyright 2010 [please consult the author] |
Fonte |
Faculty of Built Environment and Engineering; School of Engineering Systems |
Palavras-Chave | #090602 Control Systems Robotics and Automation |
Tipo |
Conference Paper |