Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipula...
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
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Publisher
Dordrecht: Springer Netherlands
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Language
English
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Publisher
Dordrecht: Springer Netherlands
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Contents
This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator t...
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Full title
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
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TN_cdi_hal_primary_oai_HAL_hal_04816746v1
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_hal_primary_oai_HAL_hal_04816746v1
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ISSN
0921-0296
E-ISSN
1573-0409
DOI
10.1007/s10846-021-01365-7
