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Passive Task-Prioritized Shared-Control Teleoperation with Haptic Guidance

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 hap-tic 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.
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https://hal.inria.fr/hal-02051476
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Submitted on : Wednesday, February 27, 2019 - 5:50:51 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:52 PM

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  • HAL Id : hal-02051476, version 1

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Mario Selvaggio, Paolo Robuffo Giordano, Fanny Ficuciello, Bruno Siciliano. Passive Task-Prioritized Shared-Control Teleoperation with Haptic Guidance. ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.1-7. ⟨hal-02051476⟩

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