A Safety and Passivity Filter for Robot Teleoperation Systems
This work addresses safety and stability issues for human operators in robotic teleoperation, but it is incremental as it builds on existing optimization-based control methods.
The paper tackles the problem of ensuring safety and passivity in robot teleoperation systems by developing a filter that combines these constraints into a single convex quadratic program, which is solved efficiently online, with simulation results demonstrating its benefits on a second-order dynamical system.
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by combining safety and passivity constraints in a single optimization-based controller which effectively filters the desired control input before supplying it to the system. The result is a safety and passivity filter implemented as a convex quadratic program which can be solved efficiently and employed in an online fashion in many robotic teleoperation applications. Simulation results show the benefits of the approach developed in this paper applied to the human teleoperation of a second-order dynamical system.