论文标题
朝着6DOF双侧近距离播种，用于航空互动的全向航空车辆
Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction
论文作者
论文摘要
双边远距离运行为在基于接触的检查和操纵任务中的空中车辆共享自主权提供了一种有趣的解决方案。全向空中机器人允许进行全姿势操作，使其在此类任务中特别有吸引力。自然地，出现了一个问题，是否适合与这些车辆一起使用标准双边遥控方法。在这项工作中，首次设计和测试了完全脱钩的6DOF双侧远程播放框架。该方法基于建立的速率控制，近期和互动力反馈政策。但是，实际实验证明了仅在单个轴上执行解耦运动的困难。因此，这项工作表明，由于操作员的物理无法正确解除所有输入DOF，因此标准方法的微不足道扩展不足以全向远程操作。这表明需要进一步研究增强的触觉反馈。
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly attractive in such tasks. Naturally, the question arises whether standard bilateral teleoperation methodologies are suitable for use with these vehicles. In this work, a fully decoupled 6DoF bilateral teleoperation framework for aerial physical interaction is designed and tested for the first time. The method is based on the well established rate control, recentering and interaction force feedback policy. However, practical experiments evince the difficulty of performing decoupled motions in a single axis only. As such, this work shows that the trivial extension of standard methods is insufficient for omnidirectional teleoperation, due to the operators physical inability to properly decouple all input DoFs. This suggests that further studies on enhanced haptic feedback are necessary.
