Telemanipulation With Force Feedback Basics

[martinstronis65]

Telemanipulation With Force Feedback Basics
Published 1/2025
Created by Douwe Dresscher
MP4 | Video: h264, 1280x720 | Audio: AAC, 44.1 KHz, 2 Ch
Level: Intermediate | Genre: eLearning | Language: English | Duration: 18 Lectures ( 2h 19m ) | Size: 577 MB​

An introduction to telemanipulation as part of Robotics Avatar technology
What you'll learn
Understand key working principles of fundamental telemanipulation architectures
Understand the most significant challenges in telemanipulation and their effects
Understand key working principles of fundamental Time Domain Passivity Control architectures
Gain practical experience with telemanipulation control implementation
Requirements
Engineering background will help but is not required. We will work based on high-school level physics and mathematics.
Some programming experience will help, but is not required. We will work in the Arduino environment for programming exercises, which is highly accessible for beginners.
Description
In this course we take a deep dive into to understand several of the key mechanisms in telemanipulation control and part of robotic avatar technology. We start with an introduction to robotic avatar technology and telemanipulation control, followed by an introduction to the two main challenges in the field, device dynamics and time delays, and their effects. We finish the first part of the course with in-depth discussions on the key mechanisms of the four most important telemanipulation control architecture.In the second part of the course, we move towards passivity and Time-Domain passivity control as well established methods to deal with some of the effects of time delays. We discuss the two main methods that can be found in literature; energy tank based methods and time-delay power networks. Finally, we discuss how TDPC can be applied to the basic architectures and what the limitations are. The course consists of a combination of informative pencasts in which knowledge from academic literature provided in and accessible way and DIY@Home labs where you can experiment with telemanipulation control yourself. Instructions are made available to build your own tabletop telemanipulation system and basic Arduino-based implementations are provided of some of the telemanipulation controllers. The experiments facilitate exploration of performance differences between different architectures as well as effects of time-delays.
Who this course is for
(Aspiring) roboticists curious about telemanipulation control
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