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Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Masters Theses
Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system …