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Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction

Publication date:

  • March 2022

Authors:

Mike Allenspach
Nicholas Lawrance
Marco Tognon
Roland Siegwart

Abstract

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.

Reference
Doi: 10.48550/arXiv.2203.03177
Published in: International Conference on Robotics and Automation (ICRA),
 Pages 1-7
Read the paper
Version: Published
Access: Open Acccess
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