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Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe: pp 301–320Cite as

Bilateral Haptic Teleoperation of an Industrial Multirotor UAV

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 94))

Abstract

This chapter presents an intuitive laser-based teleoperation scheme to enable the safe operation of a multirotor UAV by an untrained user in a cluttered environment using a haptic joystick. An obstacle avoidance strategy is designed and implemented to autonomously modify the position setpoint of the UAV if necessary. This scheme includes a novel force-feedback algorithm to enable the user to feel surrounding environment of the UAV as well as the disturbances acting on it. The stability analysis of the whole teleoperation loop, including the nonlinear dynamics of both UAV and joystick, is provided. The implementation of the teleoperation scheme on the Flybox hexacopter platform by the company Skybotix is described. Finally, experimental results and videos are reported to demonstrate the successful implementation and the performance of the overall system.

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Author information

Authors and Affiliations

  1. Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland

    Sammy Omari

  2. Skybotix AG, Luegislandstrasse 105, Zurich, Switzerland

    Sammy Omari

  3. Institut des Systèmes Intelligents et de Robotique (ISIR), CNRS-UPMC, Paris Cedex 05, France

    Minh-Duc Hua

  4. Laboratoire d’Informatique, Signaux et Systèmes (I3S), CNRS-UNS, Sophia-Antipolis, France

    Guillaume Ducard & Tarek Hamel

Authors
  1. Sammy Omari
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  2. Minh-Duc Hua
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  3. Guillaume Ducard
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  4. Tarek Hamel
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Corresponding author

Correspondence to Sammy Omari .

Editor information

Editors and Affiliations

  1. Department of Informatics VI, Technical University of Munich, Garching, Germany

    Florian Röhrbein

  2. Feup Campus, Inesc Porto, Porto, Portugal

    Germano Veiga

  3. Department of Information Engineering, Second University of Naples, Aversa, Italy

    Ciro Natale

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© 2014 Springer International Publishing Switzerland

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Omari, S., Hua, MD., Ducard, G., Hamel, T. (2014). Bilateral Haptic Teleoperation of an Industrial Multirotor UAV. In: Röhrbein, F., Veiga, G., Natale, C. (eds) Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:. Springer Tracts in Advanced Robotics, vol 94. Springer, Cham. https://doi.org/10.1007/978-3-319-03838-4_15

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  • DOI: https://doi.org/10.1007/978-3-319-03838-4_15

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03837-7

  • Online ISBN: 978-3-319-03838-4

  • eBook Packages: EngineeringEngineering (R0)

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