论文标题
灵巧的敏捷远程远程探索的强大高透明性触觉探索
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
论文作者
论文摘要
机器人的远程操作将使我们能够在危险或偏远环境中执行复杂的操纵任务，例如行星勘探或核退役所需的。这项工作提出了使用被动分形阻抗控制器（FIC）的新型远程注射结构，该结构并不依赖于主动粘性组件以保证稳定性。与在理想条件下的传统阻抗控制器（无延迟和最大通信带宽）相比，我们提出的方法在交互作用方面产生了更高的透明度，并在我们的远程消除测试方案中证明了优越的灵巧性和能力。我们还以高达1 s的极端延迟以及低至10 Hz的通信带宽来验证其性能。在具有挑战性的条件下，无论操作员的专业知识如何，所有结果都会证明在具有挑战性的条件下使用拟议的控制器时的稳定性。
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for stability guarantees. Compared to a traditional impedance controller in ideal conditions (no delays and maximum communication bandwidth), our proposed method yields higher transparency in interaction and demonstrates superior dexterity and capability in our telemanipulation test scenarios. We also validate its performance with extreme delays up to 1 s and communication bandwidths as low as 10 Hz. All results validate a consistent stability when using the proposed controller in challenging conditions, regardless of operator expertise.
