Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation

Abstract This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared of kinematically-redundant robots. The proposed method can be seen as extension state-of-the art hierarchical whole-body it allows some the tasks to commanded by remotely-located human operator through haptic device while others are autonomously performed. is able switch among at any time without compromising stability system. To enforce passivity communication channel well dissipate energy generated null-space projectors used hierarchy tasks, Time-Domain Passivity Approach (TDPA) applied. efficacy approach demonstrated its application DLR Suspended Aerial Manipulator (SAM) in real telemanipulation scenario with variable delay, jitter, package loss.