Predicting model deformations for predictive force feedback in haptic bilateral teleoperation applications
Towards complex interactions in haptic bilateral teleoperation
S. Stoicescu (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Rangarao Venkatesha Prasad – Mentor (TU Delft - Networked Systems)
Kees Kroep – Mentor (External organisation)
Q. Song – Graduation committee member (TU Delft - Embedded Systems)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
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.
Files
File under embargo until 26-06-2026