全方向性飛行ロボットの6自由度バイラテラル遠隔操作による空中物理インタラクション
Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction
全方向性ドローンの接触作業向けに6自由度バイラテラル遠隔操作の枠組みを設計・実験し、標準手法の単純拡張では操作者が入力自由度を分離できず不十分であることを示した。
著者: Mike Allenspach, Nicholas Lawrance, Marco Tognon, Roland Siegwart
分類: cs.RO
原文アブストラクト
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly attractive in such tasks. Naturally, the question arises whether standard bilateral teleoperation methodologies are suitable for use with these vehicles. In this work, a fully decoupled 6DoF bilateral teleoperation framework for aerial physical interaction is designed and tested for the first time. The method is based on the well established rate control, recentering and interaction force feedback policy. However, practical experiments evince the difficulty of performing decoupled motions in a single axis only. As such, this work shows that the trivial extension of standard methods is insufficient for omnidirectional teleoperation, due to the operators physical inability to properly decouple all input DoFs. This suggests that further studies on enhanced haptic feedback are necessary.
