Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control

Keyhan Kouhkiloui Babarahmati*, Mohammadreza Kasaei, Carlo Tiseo, Michael Mistry, Sethu Vijayakumar

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal Impedance Control (FIC) introduced in our previous work, this paper presents a novel extension to dualarm tele-cooperation, leveraging the non-linear stiffness and passivity of FIC to adapt to diverse cooperative scenarios. Unlike traditional impedance controllers, our approach ensures stability without relying on energy tanks, as demonstrated in our prior research. In this paper, we further extend the FIC framework to bimanual operations, allowing for stable and smooth switching between different dynamic tasks without gain tuning. We also introduce a telemanipulation architecture that offers higher transparency and dexterity, addressing the challenges of signal latency and low-bandwidth communication. Through extensive experiments, we validate the robustness of our method and the results confirm the advantages of the FIC approach over traditional impedance controllers, showcasing its potential for applications in planetary exploration and other scenarios requiring dexterous telemanipulation. This paper’s contributions include the seamless integration of FIC into multiarm systems, the ability to perform robust interactions in highly variable environments, and the provision of a comprehensive comparison with competing approaches, thereby significantly enhancing the robustness and adaptability of robotic systems.
Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
Publication statusAccepted/In press - 31 Jan 2024
Event2024 IEEE International Conference on Robotics and Automation - Yokohama, Japan
Duration: 13 May 202417 May 2024


Conference2024 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2024
Internet address


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