A SEMI-AUTONOMOUS TELEOPERATION

FRAMEWORK FOR IMPROVED

ADAPTABILITY TO EXTERNAL INTERACTIONS

Advisors:

Prof. ELENA DE MOMI

Dr. ARASH AJOUDANI

Author:

ADRIANO SCIBILIA

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

HUMAN-MACHINE INTERFACES

(Eurostat, 2010)

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

HUMAN-MACHINE INTERFACES

➢ Physically separated

➢ Uncomfortable devices

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

TELEOPERATION SYSTEMS

➢ Bilateral Force feedback

➢ Uncomfortable extra devices

➢ Delay in the communication channel

Drawbacks:

No feedback

➢ Improving human-robot coupling

➢ Unilateral

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

TELEIMPEDANCE

➢ Motion trajectory

➢ Human arm stiffness

references (EMG)

➢ Unexpected contacts

➢ External loads would be

carried by the operator

Drawbacks:

(Ajoudani et al., 2012)

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

OBJECTIVES

➢ Semi-Autonomous control action

➢ Contact recognition

➢ Stability

➢ Compliant interaction

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

SYSTEM OVERVIEW

MASTERCONTROLLER

ROBOT(SLAVE)

POSITIONS

VISUAL FEEDBACK

HUMAN OPERATOR(MASTER)

ENVIRONMENT

FORCE AND POSITION FEEDBACK

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

CONTROLLER DESIGN

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

CONTROLLER DESIGN

➢ Stiffness regulation

➢ Full compliant behavior

➢ Adaptivity to external

environment

Benefits:IMPEDANCE CONTROLLER

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

CONTROLLER DESIGN

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

CONTROLLER DESIGN

LOAD COMPENSATION

➢ Not Active

➢ Contact

➢ Grasp

States:

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

CONTROLLER DESIGN

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

STABILITY ANALYSIS

PASSIVE SYSTEMS

A system is said to be passive if the total amount of energy that can be extracted from it is

upper bounded by the sum of the injected and the initially stored energy

Loading term Unloading term

ENERGY TANK

Commanded

Torque

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

EXPERIMENTAL RESULTS

➢ Passivity Controller in a contact-loss situation

➢ Contact Recognition

➢ Teleoperation

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

PASSIVITY CONTROLLER IN A CONTACT-LOSS SITUATION

EXPERIMENTAL RESULTS

VARIED PARAMETERS EVALUATED PARAMETERS

➢ Applied payloads (3,4,5 Kg)

➢ Stiffness (100,200,300 N/m)

➢ Vertical position error

➢ Force on the end-effector

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

EXPERIMENTAL RESULTS

t (ms)0 1000 2000 3000 4000 5000 6000

N

-60

-40

-20

0

20

40

60total force

load compensation

impedance force

external force

t (ms)0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

N

-60

-40

-20

0

20

40

60total force

compensation force

impedance force

external force

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

EXPERIMENTAL RESULTS

t (ms)

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

po

sitio

n (

m)

-0.5

-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0.4position error with tank

position error without tank

t (ms)0 1000 2000 3000 4000 5000 6000 7000 8000

po

sitio

n (

m)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

position error with tank

position error without tank

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

EXPERIMENTAL RESULTS

➢ Distinguish between

different external

perturbances

➢ Avoid switching behavior of

the force compensation

CONTACT RECOGNITION

t (ms)0 1000 2000 3000 4000 5000 6000 7000 8000 9000

N

-40

-30

-20

-10

0

10

20

30

40

50

60total force

load compensation

t (ms)0 1000 2000 3000 4000 5000 6000 7000 8000 9000

Ta

nk

Level (J

)

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

TELEOPERATION

t (ms)0 2000 4000 6000 8000 10000 12000

Tank

Lev

el (J

)

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

t (ms)0 2000 4000 6000 8000 10000 12000

posi

tion

(m)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0.25

t (ms)0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

po

sitio

n (

m)

-0.25

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0.25

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

FUTURE WORK

➢ Load weight estimation tecnique

➢ Smart compensation force activation/deactivation

➢ Varying stiffness

ADRIANO SCIBILIA

A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY

TO EXTERNAL INTERACTIONS

GRAZIE PER L’ATTENZIONE