Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
Mattia Risiglione,Jean-Pierre Sleiman,Maria Vittoria Minniti,Burak Çizmeci,Douwe Dresscher,Marco Hutter,Mattia Risiglione,Jean-Pierre Sleiman,Maria Vittoria Minniti,Burak Çizmeci,Douwe Dresscher,Marco Hutter
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly addressed. In this work, we propose a passive control architecture to haptically teleoperate a legged mobile manipulator, while remaining stable in the presence of...