A5076030909- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Adaptive Control of Nonlinear Systems
- Robotics and Sensor-Based Localization
- Control and Dynamics of Mobile Robots
- Dynamics and Control of Mechanical Systems
- Tactile and Sensory Interactions
- Geophysics and Sensor Technology
- Advanced Vision and Imaging
- Aerospace and Aviation Technology
- Real-time simulation and control systems
- Inertial Sensor and Navigation
- Space Satellite Systems and Control
- Robot Manipulation and Learning
- Advanced Research in Science and Engineering
- Target Tracking and Data Fusion in Sensor Networks
- Virtual Reality Applications and Impacts
- Advanced Control Systems Optimization
- Aerospace Engineering and Control Systems
- Guidance and Control Systems
- Stability and Control of Uncertain Systems
- Robotic Path Planning Algorithms
- Magnetic Bearings and Levitation Dynamics
- UAV Applications and Optimization
- Distributed Control Multi-Agent Systems
Biotronik (Germany)
2024
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2018-2023
University of Twente
2021-2022
US Biologic (United States)
2022
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only haptic device, but also virtual reality that provides 3D visual feedback to remotely-located teleoperator in real-time. We achieve this by utilizing onboard and inertial sensors, an object tracking algorithm pregenerated database. As the has closely match real remote scene, we propose extension of marker with visual-inertial odometry. Both indoor outdoor experiments show...
Abstract This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared of kinematically-redundant robots. The proposed method can be seen as extension state-of-the art hierarchical whole-body it allows some the tasks to commanded by remotely-located human operator through haptic device while others are autonomously performed. is able switch among at any time without compromising stability system. To enforce passivity communication...
Attaching a robotic manipulator to flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order explore such systems while taking advantage human capabilities terms perception cognition, bilateral teleoperation arises as reasonable solution. However, since most telemanipulation tasks require visual feedback addition haptic one, real-time (task-dependent) positioning video camera, which is usually attached base, becomes an additional...
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as double pendulum, and it can generate body wrench action. main challenge fact that there only one onboard IMU sensor which does not provide full information on system state. To overcome this difficulty, we controller motivated by simplified model. proposed very simple yet robust to model uncertainties. Moreover, propose gain tuning rule formulating in form output...
Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA) presents drawback accumulating position drift between master and slave devices. The lack synchronization poses an obstacle to performance teleoperation may prevent successful accomplishment such tasks. Several techniques have been developed order solve position-drift problem TDPA-based teleoperation. However, they either present poor transparency by over-conservatively constraining...
The landing of a fixed-wing UAV on top mobile platform requires cooperative control strategy, which is based relative motion estimates. These estimates typically suffer from communication or processing time delays, can render an otherwise stable system unstable. Such effects must therefore be considered during the design process controller. In this letter application model-free passivity-based stabilizing controller proposed, monitoring energy flows in system, and actively dissipating any...
The application of the position-position architecture for enabling position synchronization two robotic agents has been proven effective in fields telemanipulation and rendezvous autonomous vehicles. Nevertheless, approaches presented to this date with purpose rendering passive under presence time-delays packet-loss are only partially able fulfil that goal. This owes fact they mostly focus on passivating system, at cost transparency. Such an issue becomes even more critical drift caused by...
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used such applications due technical physical limitations as long varying delays, packet loss, limited bandwidth, well high reliability, precision, task duration requirements. In order close this gap, we research model-augmented haptic (MATM) that uses two kinds of models: a remote model...
When, in addition to stability, position synchronization is also desired bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able fulfill the objective. This due an undesired effect caused by admittance type passivity controllers, namely drift. Previous works focused on developing TDPA-based drift compensation methods solve this issue. It was shown that, reducing drift, one of proposed keep force signals within their normal range, guaranteeing safety task....
This paper presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed not only features haptic device, but also virtual reality (VR) interface that provides real-time 3D displays of the robot’s workspace as well guidance to its remotely located operator. To realize this, multiple sensors, namely, LiDAR, cameras, IMUs are utilized. For processing acquired sensory data, pose estimation pipelines devised industrial objects both...
In real-world applications involving unmanned aerial vehicles (UAVs) the presence of communication delays can deteriorate performance flight control system or even cause instabilities. However, it is possible to improve and ensure stability in task execution by properly controlling UAV considering transport delay. This work analyzes asymptotic convergence a quadrotor, under time-delay with ground station. The effects delay, as well response-signal behavior quadrotors accomplishment...
Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Manipulator (SAM) has been envisioned. SAM composed a fully actuated multi-rotor anchored to main carrier through cable and KUKA LWR attached below multi-rotor. This work presents control method allow SAM, which holonomically constrained system, perform such interaction tasks using hierarchical framework. Within this framework, compliance manipulator end-effector...
Providing the operator with a good view of remote site is paramount importance in aerial telemanipulation. In light that, this paper proposes application hierarchical control framework order to tackle problem adjusting field an on-board camera as secondary task. The proposed approach ensures that flying base, and consequently camera, can be steered provide distant desired without disturbing end-effector pose. focused on manipulators torque-controlled arms, like DLR Suspended Aerial...
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action be sustained. The approach builds up on the recently developed Eigenmanifold theory, defines sets line-shaped oscillations robot as an invariant two-dimensional submanifold its state space. By defining problem nonlinear program (NLP), controller is able deal with constraints in variables not only final trajectory...
Pfaffian (velocity) constraints are encountered commonly in mechanical systems. In many cases, the measurements for feedback control obtained from an exteroceptive sensor system, which is not only of low rate, but also suffers physical discontinuities. This negatively affects controller performance and places severe limitations on choice parameters. To this end, a novel framework comprised rigid Body Observer (BObs) pose regulator proposed. During inter-sampling periods, observer propagates...
High Altitude Long Endurance (HALE) aircraft can take flight to altitudes as high 20 km and stay there for long periods of time. In this article, the viability landing such an on a mobile platform using cooperative control strategy motion synchronization is examined. Time domain system identification applied create model Elektra 2 Solar HALE aircraft, which was found be fidelity by Federal Aviation Administration (FAA) standards. An analysis made evaluate feasibility autonomously Unmanned...