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Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006
Special Issue on the Ninth International Symposium on Experimental Robotics, 2004
 
A Haptic Teleoperation Approach Based on Contact Force Control
 
J. Park and O. Khatib Artificial Intelligence Laboratory, Stanford University, Stanford, CA 94305, USA
 

This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the effector of the slave robotic system. The active force control approach allows the desired motion and contact forces to be combined in a single force command. The required performance and robustness of force control are achieved by a full state reconstruction using a modified Kalman estimator, which addresses disturbances and modeling uncertainties. The performance of both telepresence and force control are further improved by \textit{on-line stiffness estimation} of the object in contact with the effector. The redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.
 
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Example 1: Haptic teleoperation - setting a dinner table. (8.1 MB)
 
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