Dynamic kinesthetic boundary for haptic teleoperation of VTOL aerial robots in complex environments

Xiaolei Hou*, Robert Mahony

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    28 Citations (Scopus)


    This paper introduces a novel constraint in the master joystick workspace, termed the dynamic kinesthetic boundary, that aids a pilot to navigate an aerial robotic vehicle through a cluttered environment. The proposed approach exploits spatial cues by projecting the remote environment into a hard boundary in the master device workspace that provides a pilot with a natural representation of approaching obstacles. The approach is distinguished from classical force feedback approaches by allowing normal operation of the vehicle in free flight and only imposing constraints when approaching and interacting with the environment. A key advantage is that contact with the environment constraint is immediately perceptible to a pilot, allowing them to make suitable adjustments to their inputs. Modulation of the velocity reference for the slave robot ensures obstacle avoidance while allowing a vehicle to approach as close as desired to an object, albeit at a slow speed. A comprehensive user study was performed to systematically test the proposed algorithm and comparisons to two existing state-of-the-art approaches are provided to demonstrate the relative performance of the proposed approach.

    Original languageEnglish
    Article number7296690
    Pages (from-to)694-705
    Number of pages12
    JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
    Issue number5
    Publication statusPublished - May 2016


    Dive into the research topics of 'Dynamic kinesthetic boundary for haptic teleoperation of VTOL aerial robots in complex environments'. Together they form a unique fingerprint.

    Cite this