发表机构
Seoul National University; Automation and System Research Institute (ASRI); Institute of Advanced Aerospace Technology (IAAT)（首尔大学; 自动化与系统研究所; 先进航空航天技术研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种整合视觉与无力传感器触觉力反馈的安全关键双边遥操作框架，采用基于控制障碍函数的分层安全滤波器，避免自由飞行时的意外反馈，提升空中操纵的安全性与稳定性。
AI 中文摘要
本文提出一种用于全向空中操纵器的安全关键双边遥操作框架，该框架整合了视觉与无力传感器触觉力反馈。与现有方法要么依赖机载力/力矩传感器，要么使用依赖模型的力估计（这些估计在模型不确定性下可能变得不可靠，或在自由飞行期间引发意外反馈）不同，我们的方法实现了基于控制障碍函数的分层安全滤波器，以避免此类限制。该安全滤波器是核心贡献，它明确考虑了空中操纵器与周围环境物理相互作用产生的跟踪误差，同时强制执行推力限制——尽管这一因素对飞行安全至关重要，却被现有研究忽视。该安全滤波器调整操作员的指令，以确保空中操纵安全稳定，并避免电机饱和。滤波器的调整被映射为触觉反馈，对操作员而言直观易懂，可传递物理相互作用及即将发生的电机饱和信息。通过对基于六旋翼的全向空中操纵器进行实际实验，我们证明所提方法在自由飞行期间不会产生触觉反馈，在物理相互作用下提供方向一致的反馈，且可用于多种操纵任务。此外，消融研究进一步表明，饱和滤波器通过明确防止电机饱和并告知操作员纠正措施，提升了交互稳定性。
英文摘要
This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators that integrates visual and force-sensorless haptic wrench feedback. Unlike existing approaches that either rely on onboard force/torque sensors or use model-dependent wrench estimates, which may become unreliable under model uncertainties or induce unintended feedback during free-flight, our method implements a hierarchical safety filter based on control barrier functions to avoid such limitations. The safety filter, being the key contribution, explicitly accounts for tracking errors arising from physical interaction between the aerial manipulator and its surroundings while enforcing thrust limits, a factor overlooked despite its critical importance for flight safety. This safety filter adjusts the command from the operator to ensure safe and stable aerial manipulation and avoid motor saturation. The adjustment made by the filter is mapped to haptic feedback, which is intuitive to the operator and conveys information on physical interaction and impending motor saturation. By actual experiments with a hexarotor-based omnidirectional aerial manipulator, we demonstrate that the proposed method avoids haptic feedback during free-flight, provides directionally consistent feedback under physical interaction, and can be operated for diverse manipulative tasks. Moreover, an ablation study further shows that the saturation filter improves interaction stability by explicitly preventing motor saturation and informing the operator of corrective actions.
Comments8 pages, 10 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
