Development of SAM: cable-Suspended Aerial Manipulator

Sarkisov, Yu. S.; Kim, Min Jun; Bicego, Davide; Tsetserukou, Dzmitry; Ott, Christian; Franchi, Antonio; Kondak, Konstantin

doi:10.1109/icra.2019.8793592

Cited by 59 publications

(70 citation statements)

References 23 publications

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“…In order to tackle this issue, Fig. 1: DLR Suspended Aerial Manipulator [13], whose model was used to validate the proposed approach.…”

Section: Introductionmentioning

confidence: 99%

“…It is shown that, if the gains are kept within a given range and if allowed by the passivity condition, the presented method is able to successfully reduce the accumulated drift caused by admittance type passivity controllers (PCs) in TDPA. In addition to hardware experiments with commercially available Novint Falcon haptic devices, teleoperation of the dynamic model of a Suspended Aerial Manipulator [13] (see Fig. 1) is simulated.…”

Section: Introductionmentioning

confidence: 99%

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Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

Coelho

Ott

Singh

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

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When, in addition to passivity, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPAbased drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multi-DoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPA-based approaches to multi-DoF Cartesian-space teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multi-DoF devices is shown through hardware experiments and numerical simulation with round-trip time delays up to 700 ms.

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“…In order to tackle this issue, Fig. 1: DLR Suspended Aerial Manipulator [13], whose model was used to validate the proposed approach.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

Coelho

Ott

Singh

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Furthermore, the DLR Suspended Aerial Manipulator (SAM) [44] was chosen as the slave robot. It consists of an omnidirectional octarotor platform, which hangs from a carrier by means of cables.…”

Section: Methodsmentioning

confidence: 99%

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

Coelho

Sarkisov

et al. 2021

J Intell Robot Syst

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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 through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.

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“…Within the class of aerial manipulators, those presenting kinematic redundancy like the DLR Suspended Aerial Manipulator (SAM; Sarkisov et al, 2019; see Figure 14) are able to allow the user to not only control the robotic arm, but also steer the UAV (also called flying base) to achieve a desired camera view of the task being performed. Nevertheless, two main issues arise in that application.…”

Section: Aerial Manipulation (Hierarchical Bilateral Teleoperation and Haptic Augmentation)mentioning

confidence: 99%

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

et al. 2021

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Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.

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Development of SAM: cable-Suspended Aerial Manipulator

Cited by 59 publications

References 23 publications

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

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

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases

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