Predicting model deformations for predictive force feedback in haptic bilateral teleoperation applications

Towards complex interactions in haptic bilateral teleoperation

Bachelor thesis (2024)

Authors

S. Stoicescu Electrical Engineering, Mathematics and Computer Science

Contributors

Ranga Rao Venkatesha Prasad Networked Systems - EEMCS (mentor)
Kees Kroep External organisation (mentor)
Q. Song Embedded Systems - EEMCS (graduation committee member)
Faculty
Electrical Engineering, Mathematics and Computer Science
More Info
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Published Date

26-06-2024

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

In this paper, we investigate the use of heightmap-based models to predict deformations in granular materials during teleoperation tasks. Our primary objective is to provide real-time cutting feedback and contact predictions for haptic bilateral teleoperation applications, thereby enhancing operator control in remote manipulation scenarios. We developed a simulation model that utilizes heightmaps to represent deformable materials and implemented a cutting algorithm to simulate complex interactions with granular soils.

Through a series of experiments, we demonstrated that higher resolution heightmaps significantly improve the accuracy and stability of cutting feedback. Our findings suggest that this approach is a viable method for keeping track of changes in a deformable object's shape and can be further expanded to include a wider range of teleoperation tasks, potentially improving the safety and effectiveness of remote operations in hazardous environments.