Passive Task-Prioritized Shared-Control Teleoperation with Haptic Guidance
M. Selvaggio, P. Robuffo Giordano, F. Ficuciello, B. Siciliano
Abstract
Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with haptic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energy-tanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot.
BibTeX
@inproceedings{icra2019_passivetaskprior,
title = {Passive Task-Prioritized Shared-Control Teleoperation with Haptic Guidance},
author = {M. Selvaggio and P. Robuffo Giordano and F. Ficuciello and B. Siciliano},
booktitle = {ICRA 2019},
year = {2019}
}