Mellet, Julien (2025) Haptic Aerial Manipulation for Industrial Remote Operation: Control, Design and Evaluation. [Tesi di dottorato]

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Abstract

This thesis presents the development of a remote control system designed to transfer the remarkable manipulation capabilities of humans to aerial robots. To effectively extend the operator’s control, the framework integrates haptic feedback and visual augmentation. Through advances in modeling, control design, prototyping, and experimental validation, this research aims to enhance operator situational awareness during physical inspection tasks while maintaining precision in aerial interactions. The work addresses the challenges of controlling fully actuated platforms in industrial applications by incorporating semi-autonomous systems with augmented user interfaces. Several contributions have been made across different telemanipulation systems, encompassing three typologies of aerial manipulators and three haptic interfaces. A neural state estimator is introduced in a minimal sensing configuration of a flat multirotor. In addition, a flexible robot arm with passive impact absorption extends the physical interaction capabilities of the flat platform. To enhance operational safety, a neural network-based localization system for custom target detection is presented. The design of an omnidirectional quadrotor is also described, enabling full 6-Degrees of Freedom (DoF) control. On the operator side, a miniaturized haptic finger joystick is proposed for decoupling 6-DoF axis generation. The effectiveness of the proposed systems is demonstrated through industrial applications and an extensive user study. A two-month evaluation of a multimodal telemanipulation system quantitatively assesses operator dexterity, showing significant improvements in performance. Overall, the research enhances the robustness of telemanipulation systems, reduces operator workload, and improves performance, offering valuable insights into the future of aerial physical interaction.

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