Search

Your search keyword '"Balachandran, Ribin"' showing total 84 results
Start Over Author "Balachandran, Ribin"
84 results on '"Balachandran, Ribin"'

1. Applications

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

2. Conclusions

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

3. Transparency Enhancement in Teleoperation

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

4. Stable and Transparent Shared Control Framework

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

5. Introduction

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

6. Multi-agent Adaptive Shared Control

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

7. Fundamentals

Author

Balachandran, Ribin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Balachandran, Ribin

Published
2024
Full Text
View/download PDF

8. Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities

Author

Lee, Jongseok, Balachandran, Ribin, Kondak, Konstantin, Coelho, Andre, De Stefano, Marco, Humt, Matthias, Feng, Jianxiang, Asfour, Tamim, and Triebel, Rudolph

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence, Computer Science - Computer Vision and Pattern Recognition, Computer Science - Human-Computer Interaction, Computer Science - Machine Learning
Abstract

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot's workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors namely a LiDAR, cameras and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active learning pipeline in order to increase the sample efficiency of a pipeline component that relies on Deep Neural Networks (DNNs) based object detection. All these algorithms jointly address various challenges encountered during the execution of perception tasks in industrial scenarios. In the experiments, exhaustive ablation studies are provided to validate the proposed pipelines. Methodologically, these results commonly suggest how an awareness of the algorithms' own failures and uncertainty (`introspection') can be used tackle the encountered problems. Moreover, outdoor experiments are conducted to evaluate the effectiveness of the overall system in enhancing aerial manipulation capabilities. In particular, with flight campaigns over days and nights, from spring to winter, and with different users and locations, we demonstrate over 70 robust executions of pick-and-place, force application and peg-in-hole tasks with the DLR cable-Suspended Aerial Manipulator (SAM). As a result, we show the viability of the proposed system in future industrial applications., Comment: Accepted to Field Robotics

Published
2022

15. Visual-Inertial Telepresence for Aerial Manipulation

Author

Lee, Jongseok, Balachandran, Ribin, Sarkisov, Yuri S., De Stefano, Marco, Coelho, Andre, Shinde, Kashmira, Kim, Min Jun, Triebel, Rudolph, and Kondak, Konstantin

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pre-generated object database. As the virtual reality has to closely match the real remote scene, we propose an extension of a marker tracking algorithm with visual-inertial odometry. Both indoor and outdoor experiments show benefits of our proposed system in achieving advanced aerial manipulation tasks, namely grasping, placing, force exertion and peg-in-hole insertion., Comment: Accepted to International Conference on Robotics and Automation (ICRA) 2020, IEEE copyright, 8 pages, 10 figures

Published
2020

16. Smoother Position-Drift Compensation for Time Domain Passivity Approach based Teleoperation

Author

Coelho, Andre, Singh, Harsimran, Muskardin, Tin, Balachandran, Ribin, and Kondak, Konstantin

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA) presents the drawback of accumulating position drift between master and slave devices. The lack of position synchronization poses an obstacle to the performance of teleoperation and may prevent the successful accomplishment of such tasks. Several techniques have been developed in order to solve the position-drift problem in TDPA-based teleoperation. However, they either present poor transparency by over-conservatively constraining force feedback or add high impulse-like force signals that can be harmful to the hardware and to the human operator. We propose a new approach to compensate position drift in TDPA-based teleoperation in a smoother way, which keeps the forces within the normal range of the teleoperation task while preserving the level of transparency and the robust stability of energy-based TDPA. We also add a way of tuning the compensator to behave in accordance with the task being performed, whether it requires faster or smoother compensation. The feasibility and performance of the method were experimentally validated. Good position tracking and regular-amplitude forces are demonstrated with up to 500 ms round-trip constant and variable delays for hard-wall contacts.

Published
2020
Full Text
View/download PDF

18. Passive Compliance Control of Aerial Manipulators

Author

Kim, Min Jun, Balachandran, Ribin, De Stefano, Marco, Kondak, Konstantin, and Ott, Christian

Subjects
Computer Science - Robotics, Computer Science - Systems and Control
Abstract

This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach., Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018

Published
2018

20. Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking

Author

Weber, Bernhard, Schätzle, Simon, Riecke, Cornelia, Brunner, Bernhard, Tarassenko, Sergey, Artigas, Jordi, Balachandran, Ribin, Albu-Schäffer, Alin, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Bello, Fernando, editor, Kajimoto, Hiroyuki, editor, and Visell, Yon, editor

Published
2016
Full Text
View/download PDF

22. Ein stabiler und transparenter Ansatz für die adaptive, gemeinsame Regelung von Robotern

Author

Radhakrishna Balachandran, Ribin, Albu-Schäffer, Alin (Prof. Dr.), and Abbink, David (Prof. Dr.)

Subjects
Technik, ddc:600
Abstract

In mixed-initiative haptic shared control of robots, humans and automatic control system work in parallel. The command to the robot is a weighted sum of forces from these two agents. This thesis develops control methods to improve the force feedback performance for mixed-initiative shared teleoperation and to adapt the control authority between human and automatic control system in a stable manner even in the presence of communication delays. All methods are validated on real robotic hardware. Bei der gemischt-initiativen, gemeinsamen, haptischen Regelung von Robotern, arbeiten Mensch und automatisches Steuerungssystem zusammen. Die dem Roboter kommandierte Kraft ist eine gewichtete Summe der Kräfte dieser beiden Agenten. In dieser Arbeit werden Regelungsmethoden entwickelt, um die Leistung einer gemischt-initiativen Teleoperation zu verbessern und die Regelungsautorität zwischen Mensch und automatischem Regelungssystem auch bei Latenzen im Kommunikationskanal stabil zu halten. Alle Methoden werden auf an verschiedenen Robotern validiert.

Published
2022

25. A Stable and Transparent Framework for Adaptive Shared Control of Robots

Author

Albu-Schäffer, Alin (Prof. Dr.), Albu-Schäffer, Alin (Prof. Dr.);Abbink, David (Prof. Dr.), Radhakrishna Balachandran, Ribin, Albu-Schäffer, Alin (Prof. Dr.), Albu-Schäffer, Alin (Prof. Dr.);Abbink, David (Prof. Dr.), and Radhakrishna Balachandran, Ribin

Abstract

In mixed-initiative haptic shared control of robots, humans and automatic control system work in parallel. The command to the robot is a weighted sum of forces from these two agents. This thesis develops control methods to improve the force feedback performance for mixed-initiative shared teleoperation and to adapt the control authority between human and automatic control system in a stable manner even in the presence of communication delays. All methods are validated on real robotic hardware., Bei der gemischt-initiativen, gemeinsamen, haptischen Regelung von Robotern, arbeiten Mensch und automatisches Steuerungssystem zusammen. Die dem Roboter kommandierte Kraft ist eine gewichtete Summe der Kräfte dieser beiden Agenten. In dieser Arbeit werden Regelungsmethoden entwickelt, um die Leistung einer gemischt-initiativen Teleoperation zu verbessern und die Regelungsautorität zwischen Mensch und automatischem Regelungssystem auch bei Latenzen im Kommunikationskanal stabil zu halten. Alle Methoden werden auf an verschiedenen Robotern validiert.

Published
2022

26. Exploring planet geology through force-feedback telemanipulation from orbit

Author

Panzirsch, Michael, primary, Pereira, Aaron, additional, Singh, Harsimran, additional, Weber, Bernhard, additional, Ferreira, Edmundo, additional, Gherghescu, Andrei, additional, Hann, Lukas, additional, den Exter, Emiel, additional, van der Hulst, Frank, additional, Gerdes, Levin, additional, Cencetti, Leonardo, additional, Wormnes, Kjetil, additional, Grenouilleau, Jessica, additional, Carey, William, additional, Balachandran, Ribin, additional, Hulin, Thomas, additional, Ott, Christian, additional, Leidner, Daniel, additional, Albu-Schäffer, Alin, additional, Lii, Neal Y., additional, and Krüger, Thomas, additional

Published
2022
Full Text
View/download PDF

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

Author

Hulin, Thomas, primary, Panzirsch, Michael, additional, Singh, Harsimran, additional, Coelho, Andre, additional, Balachandran, Ribin, additional, Pereira, Aaron, additional, Weber, Bernhard M., additional, Bechtel, Nicolai, additional, Riecke, Cornelia, additional, Brunner, Bernhard, additional, Lii, Neal Y., additional, Klodmann, Julian, additional, Hellings, Anja, additional, Hagmann, Katharina, additional, Quere, Gabriel, additional, Bauer, Adrian S., additional, Sierotowicz, Marek, additional, Lampariello, Roberto, additional, Vogel, Jörn, additional, Dietrich, Alexander, additional, Leidner, Daniel, additional, Ott, Christian, additional, Hirzinger, Gerd, additional, and Albu-Schäffer, Alin, additional

Published
2021
Full Text
View/download PDF

35. The AEROARMS Project: Aerial robots with advanced manipulation capabilities for inspection and maintenance

Author

Ollero, Anibal [0000-0003-2155-2472], Heredia, Guillermo [0000-0003-1571-173X], Franchi, Antonio [0000-0002-5670-1282], Antonelli, Gianluca [0000-0002-5511-0165], Pierri, Francesco [0000-0002-8267-0512], Cortés, Juan [0000-0002-4660-0306], Santamaria-Navarro, Àngel [0000-0002-6328-1423], Trujillo, Miguel Ángel [0000-0001-6065-2949], Balachandran, Ribin [0000-0002-7560-471X], Andrade-Cetto, Juan [0000-0002-6354-8941], Ollero, Anibal, Heredia, Guillermo, Franchi, Antonio, Antonelli, Gianluca, Kondak, Konstantin, Sanfeliu, Alberto, Viguria, Antidio, Martinez-de Dios, J. Ramiro, Pierri, Francesco, Cortés, Juan, Santamaria-Navarro, Àngel, Trujillo, Miguel Ángel, Balachandran, Ribin, Andrade-Cetto, Juan, Rodriguez, Angel, Ollero, Anibal [0000-0003-2155-2472], Heredia, Guillermo [0000-0003-1571-173X], Franchi, Antonio [0000-0002-5670-1282], Antonelli, Gianluca [0000-0002-5511-0165], Pierri, Francesco [0000-0002-8267-0512], Cortés, Juan [0000-0002-4660-0306], Santamaria-Navarro, Àngel [0000-0002-6328-1423], Trujillo, Miguel Ángel [0000-0001-6065-2949], Balachandran, Ribin [0000-0002-7560-471X], Andrade-Cetto, Juan [0000-0002-6354-8941], Ollero, Anibal, Heredia, Guillermo, Franchi, Antonio, Antonelli, Gianluca, Kondak, Konstantin, Sanfeliu, Alberto, Viguria, Antidio, Martinez-de Dios, J. Ramiro, Pierri, Francesco, Cortés, Juan, Santamaria-Navarro, Àngel, Trujillo, Miguel Ángel, Balachandran, Ribin, Andrade-Cetto, Juan, and Rodriguez, Angel

Abstract

This article summarizes new aerial robotic manipulation technologies and methods-aerial robotic manipulators with dual arms and multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M).

Published
2018

36. Designing and Testing a Robotic Avatar for Space-to-Ground Teleoperation: the Developers' Insights

Author

Krueger, Thomas, Ferreira, Edmundo, Gherghescu, Andrei, Hann, Lukas, den Exter, Emiel, van der Hulst, Frank P. J, Gerdes, Levin, Pereira, Aaron, Singh, Harsimran, Panzirsch, Michael, Hulin, Thomas, Balachandran, Ribin, Weber, Bernhard, and Lii, Neal Y.

Subjects
Low-Bandwidth, Latency, Teleoperation, Haptics, Robotics, Telerobotics, Real-Time, Human-Robot Interaction, Institut für Robotik und Mechatronik (ab 2013)
Abstract

In late 2019, astronaut Luca Parmitano remotely controlled a rover equipped with a robotic manipulator, performing geology tasks on a moon-analog site from the ISS. One year and 7 months later, in July 2021, he will control the same rover in a more realistic moon-analog environment: a field of volcanic rock and regolith on mount Etna, Italy. These experiments constitute the Analog-1 campaign in the frame of ESA's METERON project. As payload developers, we want to create an interface for astronauts to intuitively operate robotic systems on a planetary or lunar surface: how can we maximise task efficiency and sense of immersion/transparency? At the same time, how can we minimise operator fatigue, and physical and mental effort? And how do we do this while constrained in the framework of human spaceflight, with upmass and software requirements, with delayed, low-bandwidth and unreliable communications? We show how we created a telerobotic system featuring an intuitive graphical and haptic user interface. This included a force feedback device and custom joystick, controlling a mobile robotic platform. The robotic platform consisted of an all-terrain chassis and two 7-DOF robotic arms with torque sensing. One arm was mounted on the front of the rover and used for manipulation; the other was mounted on top and used to reposition a camera. With this system, the astronaut was fully in control of the robot to collect rock samples. The only external input was from a ground team of scientists over voice-loop and text-messenger, concerning the choice of geological samples. Full, stable 6-DOF force feedback for the manipulation arm was provided via a sigma.7 haptic input device. This meant that the astronaut could feel (for the first time from space) not only full-DOF contact with the planet surface from orbit, but also the weight of the rocks they grasped. System status feedback was visually and intuitively presented on the user interface - running on a laptop on board the ISS - as well as views from two cameras. During development we continuously integrated requirements from various stakeholders and feedback from astronauts and astronaut trainers to improve the user interface. The analog tests delivered valuable insights about how to design a telepresence system to control robots on a planet's surface from orbit. We expect these insights to be useful for future development of teleoperated planetary robotics as well as terrestrial applications in similar scenarios.

Published
2020

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

Author

Hulin, Thomas, Panzirsch, Michael, Singh, Harsimran, Coelho, Andre, Balachandran, Ribin, Pereira, Aaron, Weber, Bernhard, Bechtel, Nicolai, Riecke, Cornelia, Brunner, Bernhard, Lii, Neal Yi-Sheng, Klodmann, Julian, Hellings, Anja, Hagmann, Katharina, Quere, Gabriel, Bauer, Adrian Simon, Sierotowicz, Marek, Lampariello, Roberto, Vogel, Jörn, Dietrich, Alexander, Leidner, Daniel, Ott, Christian, Hirzinger, Gerhard, and Albu-Schäffer, Alin Olimpiu

Subjects
Robotics and AI, model-augmented telemanipulation, Electronic computers. Computer science, TJ1-1570, Mechanical engineering and machinery, QA75.5-76.95, haptic constraints, telerobotics, shared control, Original Research, shared autonomy
Abstract

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.

Published
2020

40. Visual-Inertial Telepresence for Aerial Manipulation

Author

Lee, Jongseok, primary, Balachandran, Ribin, additional, Sarkisov, Yuri S., additional, De Stefano, Marco, additional, Coelho, Andre, additional, Shinde, Kashmira, additional, Kim, Min Jun, additional, Triebel, Rudolph, additional, and Kondak, Konstantin, additional

Published
2020
Full Text
View/download PDF

43. An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base

Author

De Stefano, Marco, Balachandran, Ribin, Giordano, Alessandro Massimo, and Secchi, Cristian

Subjects
Computer Science::Robotics, Analyse und Regelung komplexer Robotersysteme, space robotics, multi-rate, control, coordinated control
Abstract

In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. In particular, we investigate the stability issues due to the low rate of the base control unit. We propose a passivity-based stabilizing controller based on the time domain passivity approach. The controller uses a variable damper regulated by a designed energy observer. The effectiveness of the proposed strategy is validated on a base-manipulator multibody simulation.

Published
2018

46. The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Author

Ollero, Anibal, primary, Cortes, Juan, additional, Santamaria-Navarro, Angel, additional, Trujillo Soto, Miguel Angel, additional, Balachandran, Ribin, additional, Andrade-Cetto, Juan, additional, Rodriguez, Angel, additional, Heredia, Guillermo, additional, Franchi, Antonio, additional, Antonelli, Gianluca, additional, Kondak, Konstantin, additional, Sanfeliu, Alberto, additional, Viguria, Antidio, additional, Martinez-de Dios, J. Ramiro, additional, and Pierri, Francesco, additional

Published
2018
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results