A SEMI-AUTONOMOUS TELEOPERATION FRAMEWORK FOR IMPROVED ADAPTABILITY TO EXTERNAL INTERACTIONS Advisors: Prof. ELENA DE MOMI Dr. ARASH AJOUDANI Author: ADRIANO SCIBILIA
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