A5071216935- Teleoperation and Haptic Systems
- Space Satellite Systems and Control
- Soft Robotics and Applications
- Tactile and Sensory Interactions
- Robotics and Sensor-Based Localization
- Geophysics and Sensor Technology
- Space Exploration and Technology
- Robot Manipulation and Learning
- Robotic Path Planning Algorithms
- Healthcare Technology and Patient Monitoring
- Virtual Reality Applications and Impacts
- Advanced Vision and Imaging
- Distributed Control Multi-Agent Systems
- Robotics and Automated Systems
- Spacecraft Design and Technology
- Astro and Planetary Science
- UAV Applications and Optimization
- Modeling and Simulation Systems
- Adaptive Control of Nonlinear Systems
- Modular Robots and Swarm Intelligence
- Power Line Inspection Robots
- Real-time simulation and control systems
- Inertial Sensor and Navigation
- Prosthetics and Rehabilitation Robotics
- Ergonomics and Musculoskeletal Disorders
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2015-2024
This article summarizes new aerial robotic manipulation technologies and methods-aerial manipulators with dual arms multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection maintenance (I&M).
This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, German & Russian mission that addressed scientific and technological questions future planetary explorations. In Earth ISS have been used as test-bed evaluate demonstrate technology real-time telemanipulation from space. During August 2015' experiments campaign, cosmonaut teleoperated manipulator located in Germany, using force-feedback joystick segment...
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...
Current space exploration roadmaps envision exploring the surface geology of celestial bodies with robots for both scientific research and in situ resource utilization. In such unstructured, poorly lit, complex, remote environments, automation is not always possible, some tasks, as geological sampling, require direct teleoperation aided by force-feedback (FF). The operator would be on an orbiting spacecraft, poor bandwidth, high latency, packet loss from orbit to ground mean that safe,...
This article proposes a passivity-based approach for simulating satellite dynamics on position-controlled robot equipped with force-torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade behavior of reproduced by robot. These factors can generate an energy-inconsistent simulation even render system unstable. In this article, time delay effects are analyzed from energetic perspective compensated through control strategy to ensure faithful stable...
In this letter we design a novel control strategy for space manipulator operating on controlled base. The proposed controllers resolve the tracking of end-effector and regulation particular, focus effects due to different sampling rates base which can generate stability issues. These are analysed from an energetic perspective passivity-based designed avoid instability. method is validated with simulations experiments robotic facility, OOS-Sim.
Direct force control of robots is challenging, particularly since the interaction with environment can render robot unstable. This paper presents results novel approaches for passivity-based stability a particular direct method, namely explicit control. A step-by-step procedure to passivate and stabilise loop presented it explains how Time Domain Passivity Approach, tool widely used in teleoperation haptics has been extended applied The electrical circuit network-port representations derived...
Sending humans to Mars' surface build habitats is, for now, prohibitively dangerous and costly. An alternative is have in orbiters, teleoperating robots on Mars construct habitats, deferring human arrival until these are finished. This paper describes the Kontur-2 experiments, which feasibility of this scenario was tested with International Space Station as an orbiter, a cosmonaut operating force-feedback joystick input device teleoperation, Earth planet where teleoperated robot located. In...
This paper presents initial results of a set experiments to compare time-delayed teleoperation performance selected architectures based on two popular passivity methods, namely, Wave Variables Transformation (WVT) and Time Domain Passivity Approach (TDPA). Five different widely used available in literature are selected: 2-channel 3-channel for both WV TDPA, 4-channel TDPA. An empirical approach measuring transparency is proposed, which three main qualities: 1) Controller independency 2)...
In the present paper, we propose a novel system-driven adaptive shared control framework in which autonomous system allocates authority among human operator and itself. Authority allocation is based on metric derived from Bayesian filter, being adapted online according to real measurements. this way, time-varying measurement noise characteristics are incorporated. We stability proof for proposed architecture with allocation, includes time delay communication channel between robot....
Force-feedback teleoperation for on-orbit servicing tasks demands real-time communication requirements, latencies below one second and the presence of a skilled human operator to perform in from an on-ground station. On other hand, is technology that enjoys high TRLs, has evidenced benefits domains as nuclear or medical little dependency on optical sensors image processing algorithms need operate extreme illumination conditions. While all these factors could be value future missions,...
Future challenges in teleoperation arise from a new complexity of tasks and constraints unstructured environments. In industrial applications as nuclear research facilities, the operator has to manipulate large objects whereas medical robotics requires extremely high precision. last decades, optimized transparency setups through accurate hardware, higher sampling rates, improved sensor technologies. To further enhance performance telemanipulation, idea haptic augmentation been briefly...
Reliable and robust balancing controllers are key elements of whole-body control frameworks for humanoid robots. Passivity-based have been proposed tested successfully in various scenarios involving different types ground surfaces. This letter extends the passivity considerations covering not only robot controller but also floor order to guarantee an appropriate behavior, even when underlying surface is stable. The extension validated with experiments using TOrque-controlled RObot (TORO).
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...
Field robots used in unstructured and dynamic environments - teleoperation have shifted into the focus of a variety industrial branches past few years. The lack space atomic industry, on oil platforms applications demands additional adaptations to current robotic setups. In this paper MMSS (Multi-Master-Single-Slave) haptic system is proposed through which one operator using two master arms can manipulate objects cooperative way via slave robot virtual gripping point. To ease execution...
Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate achieve a common objective more effectively. Tasks using manipulators eased improved in terms of reliability, adaptability ergonomics via robot cooperation. In spite visual haptic feedback, cooperative telemanipulation multiple robots by distant operators still challenging due practical limitations synchronisation supervision. This paper presents new control approach for intention augmentation...
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions vehicle which might be required during interaction preserve passivity. controller proposed in this guarantees passivity manipulator through proper choice end-effector coordinates, and that fuselage guaranteed by exploiting time domain technique. Simulation studies validate approach.
In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance transparency by reducing effect of perceived inertia human operator simultaneously improve contact perception. To ensure stability proposed system considering time-delays, propose a sequential design procedure based on time domain passivity approach. Experimental results master-slave system, KUKA light-weight-robots, for different values delays are presented....
In this paper we present a passive and reliable explicit discrete integrator, which allows to preserve the energy dynamic properties of physical body rendered on hardware-in-the-loop simulator. Starting from standard Euler identify generation that results integration process. This makes time dynamics deviate ideal one, resulting in position drifts or stability issues. By exploiting domain passivity approach, simulated is reshaped order its properties. The proposed method precise simulation...
In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. particular, investigate stability issues due to low rate control unit. We propose passivity-based stabilizing controller based time domain passivity approach. The uses variable damper regulated by designed energy observer. effectiveness proposed strategy is validated base-manipulator multibody simulation.
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...
In this paper, a time-continuous, non-linear local force feedback control is proposed which produces low inertia of the haptic interface during free slave motion as well higher transparency slave-environment interactions, by modifying gain function measured forces interaction. Stability system proven using damping injection based on model-based passivation approach and model-free time domain passivity approach. Teleoperation experiments with time-delay KUKA light weight robot-based master...