|NICOLIS DAVIDE||Cycle: XXXI |
Section: Systems and Control
Tutor: BASCETTA LUCA Major Research topic
:Control of bilateral teleoperation systems with haptic feedback and shared human-robot authority
Advisor: ROCCO PAOLOAbstract:
Since the early '50s, teleoperation robots have been employed to manipulate dangerous materials in hostile environments while ensuring the operators safety, e.g. in radioactive material handling, or lately in on-orbit servicing). More recently, they have been used in surgeries to enhance the surgeon senses and steadiness, while allowing minimally invasive procedures.
The closed loops established in force-reflecting teleoperation system give rise to delays and stability issues, which require to trade-off the transparency of the interaction and are generally tackled with arguments based on system passivity. With this in mind, the objective of this research is to improve teleoperation techniques by endowing these systems with shared control capabilities, to allow the execution of complex tasks while removing some strain from the operator, and at the same time weakening the stability requirements. For this purpose, optimization-based control techniques are particularly suitable for the definition of constraints that can simplify task execution via virtual fixtures, and may simultaneously provide interaction stability while preserving transparency. \n\n