13 accepted papers
The Time Domain Passivity Approach (TDPA) was developed to guarantee passivity while avoiding conservative constant controller parametrization. For this sake, the TDPA applies adaptive damping to dissipate excessive energy resulting from communication delay in bilateral teleoperation setups. Despite
Shared autonomy bridges human expertise with machine intelligence, yet existing approaches often overlook the impact of teleoperation delays. To address this gap, we propose a novel shared autonomy approach that enables robots to gradually learn from teleoperated demonstrations while adapting to net
Recently, the deflection-domain passivity approach (DDPA) was introduced which does not control a system?s energetic behavior over time but over the deflection of the coupling controller?s virtual spring. So far, it has been applied to guarantee passivity in variable stiffness systems and for chatte
With increasing dexterity and robustness of robotic manipulation systems, their field of applications expands. Due to the still limited capabilities of autonomous agents and the requirement of fallback solutions in case of failure, teleoperation remains an essential functionality for systems that ar
With emerging capabilities, robots will advance gradually into human environments in the near future. Thereby, safety and robustness is currently tackled through intrinsically soft robotics or variable impedances, mainly stiffnesses. In tele-operation, for instance, the control stiffness can be adap
Multi-agent control of a robot using multiple controllers is vital in domains like shared control and reliable control. The strategy of assigning a varying priority (authority) to each agent controller, and commanding the robot using an authority-weighted sum of the forces produced by all the agents…
Position synchronization is a primary control challenge in the delayed coupling of robotic systems. While in tele-operation, the interaction force of the robot is often the preferred feedback for high degrees of transparency, positions are exchanged in the coupling of autonomous systems for improved
Ensuring stability in time-delayed teleoperation can be difficult in some cases where the feedback forces need to be modified as defined by the user, to increase transparency. In the present letter, we propose an approach to ensure stability of any feedback controller selected by the user by conside
The application of the position-position architecture for enabling position synchronization of two robotic agents has been proven effective in the fields of telemanipulation and rendezvous of autonomous vehicles. Nevertheless, the approaches presented to this date with the purpose of rendering the p
Instability due to delayed communication is one of the main challenges in the coupling of autonomous robots but also in teleoperation with applications reaching from space to tele-healthcare scenarios. The Time Domain Passivity Approach assures stability despite delay and has already been validated
Robotic teleoperation is a key technology for a wide variety of fields. Teleoperating a humanoid in particular is essential as it allows the user to act remotely on an interface designed especially for humans, e.g., in a space station, or operating tools and machinery in disaster scenarios. This pap…
Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual an…
Field robots used in unstructured and dynamic environments - and teleoperation have shifted into the focus of a variety of industrial branches in the past few years. The lack of space in the atomic industry, on oil platforms and in space applications demands additional adaptations to current robotic…