Slippage-Dependent Teleoperation of Wheeled Mobile Robots on Soft Terrains
Weihua Li, Junlong Guo, Liang Ding, Jianfeng Wang, Haibo Gao
Abstract
The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a motion deviation at the contact area, which can induce poor command-tracking performance (meaning difference between WMR's actual motion and operator's command) and instability for its teleoperation. Our previous studies have presented some approaches to conservatively ensure the system stability, and a new slippage-dependent teleoperator is proposed herein to further improve the teleoperation performance. The kinematic model is augmented in the presence of slippage, and slippage-induced unstable elements are revealed by passivity analysis. To compensate for the activity and improve the command-tracking performance induced by slippage, the combination of a slippage-dependent forward feedback controller and a traditional position-error-based controller is proposed. Experiments validate that the proposed method can yield a stable system with good command-tracking performance and force transparency compared with previous studies.
BibTeX
@inproceedings{ral2021_slippagedependen,
title = {Slippage-Dependent Teleoperation of Wheeled Mobile Robots on Soft Terrains},
author = {Weihua Li and Junlong Guo and Liang Ding and Jianfeng Wang and Haibo Gao},
booktitle = {RA-L 2021},
year = {2021}
}