Bilateral Haptic Teleoperation of an Industrial Multirotor UAV

  • Sammy OmariEmail author
  • Minh-Duc Hua
  • Guillaume Ducard
  • Tarek Hamel
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)


This chapter presents an intuitive laser-based teleoperation scheme to enable the safe operation of a multirotor UAV by an untrained user in a cluttered environment using a haptic joystick. An obstacle avoidance strategy is designed and implemented to autonomously modify the position setpoint of the UAV if necessary. This scheme includes a novel force-feedback algorithm to enable the user to feel surrounding environment of the UAV as well as the disturbances acting on it. The stability analysis of the whole teleoperation loop, including the nonlinear dynamics of both UAV and joystick, is provided. The implementation of the teleoperation scheme on the Flybox hexacopter platform by the company Skybotix is described. Finally, experimental results and videos are reported to demonstrate the successful implementation and the performance of the overall system.


Aerial Robotics Teleoperation Haptics and Haptic Interfaces 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Sammy Omari
    • 1
    Email author
  • Minh-Duc Hua
    • 2
  • Guillaume Ducard
    • 3
  • Tarek Hamel
    • 3
  1. 1.Autonomous Systems Lab (ASL)ETH Zurich, Switzerland &, Skybotix AGZurichSwitzerland
  2. 2.Institut des Systèmes Intelligents et de Robotique (ISIR)CNRS-UPMCParisFrance
  3. 3.Laboratoire d’Informatique, Signaux et Systèmes (I3S)CNRS-UNSParisFrance

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