高透明性を実現する受動的インピーダンス制御による巧みな遠隔操作
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
安定性を保証する受動的フラクタルインピーダンス制御を用いた遠隔操作アーキテクチャを提案し、遅延や低帯域でも高い透明性と安定性を示した。
著者: Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Quentin Rouxel, Zhibin Li, Michael Mistry
分類: cs.RO
原文アブストラクト
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for stability guarantees. Compared to a traditional impedance controller in ideal conditions (no delays and maximum communication bandwidth), our proposed method yields higher transparency in interaction and demonstrates superior dexterity and capability in our telemanipulation test scenarios. We also validate its performance with extreme delays up to 1 s and communication bandwidths as low as 10 Hz. All results validate a consistent stability when using the proposed controller in challenging conditions, regardless of operator expertise.
