2 research outputs found
Haptic Teleoperation of UAVs through Control Barrier Functions
This paper presents a novel approach to haptic teleoperation. Specifically,
we use control barrier functions (CBFs) to generate force feedback to help
human operators safely fly quadrotor UAVs. CBFs take a control signal as input
and output a control signal that is as close as possible to the initial control
signal, while also meeting specified safety constraints. In the proposed
method, we generate haptic force feedback based on the difference between a
command issued by the human operator and the safe command returned by a CBF. In
this way, if the user issues an unsafe control command, the haptic feedback
will help guide the user towards the safe input command that is closest to
their current command. We conducted a within-subject user study, in which 12
participants flew a simulated UAV in a virtual hallway environment.
Participants completed the task with our proposed CBF-based haptic feedback, no
haptic feedback, and haptic feedback generated via parametric risk fields,
which is a state-of-the-art method described in the literature. The results of
this study show that CBF-based haptic feedback can improve a human operator's
ability to safely fly a UAV and reduce the operator's perceived workload,
without sacrificing task efficiency
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications
In Human-Robot Collaboration, the robot operates in a highly dynamic
environment. Thus, it is pivotal to guarantee the robust stability of the
system during the interaction but also a high flexibility of the robot behavior
in order to ensure safety and reactivity to the variable conditions of the
collaborative scenario. In this paper we propose a control architecture capable
of maximizing the flexibility of the robot while guaranteeing a stable behavior
when physically interacting with the environment. This is achieved by combining
an energy tank based variable admittance architecture with control barrier
functions. The proposed architecture is experimentally validated on a
collaborative robot