Communication Dans Un Congrès Année : 2025

Haptic Shared Control of a Pair of Microrobots for Telemanipulation using Constrained Optimization

Résumé

Microrobotics implies actuation-related constraints that make safe telemanipulation particularly challenging. We present a haptic shared control system for electromagnetic-based telemanipulation of a pair of microrobots using a constrained optimization framework. Our contributions include: (1) a Quadratic Programming formulation with Control Lyapunov Functions and Control Barrier Functions, for safe and stable navigation in cluttered environments; (2) a shared control architecture, combining a haptic interface and simulation environment, to teleoperate the microrobots and enable micromanipulation capabilities; and (3) haptic shared control strategies offering visuo-haptic cues for task execution. The approach is validated through a user study, highlighting better navigation accuracy, control stability and task efficiency.

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Dates et versions

hal-05157735 , version 1 (11-07-2025)

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  • HAL Id : hal-05157735 , version 1

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Leon Raphalen, Marco Ferro, Sarthak Misra, Paolo Robuffo Giordano, Claudio Pacchierotti. Haptic Shared Control of a Pair of Microrobots for Telemanipulation using Constrained Optimization. IROS 2025, Oct 2025, Hangzhou, China. ⟨hal-05157735⟩
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