Homography-Based Cooperative Teleoperation With Partial Pose Synchronization

This article presents a passivity-based shared control for a multirobot teleoperation system to perform extravehicular assembly tasks. At the remote site, an eye-in-hand camera is integrated with three manipulators that cooperatively drive a customized tool. A haptic device at the local site allows a human operator to intervene when necessary via bilateral teleoperation. To enable intuitive user control, a homography-based method seamlessly integrates visual servoing and operator input to guide the remote camera. To accommodate different peg geometries and enable adaptive tool actuation, a partial pose synchronization method decouples roll from the other pose dimensions. It allows each manipulator to independently actuate a gripper by rotating its end-effector frame around the roll axis, without interfering with cooperative motion in position, pitch, and yaw. In addition, to minimize undesired internal forces, we formulate and solve a passivity-constrained interaction wrench optimization problem that enhances stability. The proposed control ensures smooth transitions between autonomous and teleoperated modes, supporting flexible human intervention. Theoretical analysis and experimental validation confirm the system’s stability and effectiveness in achieving precise, robust, and responsive multirobot teleoperation for complex space assembly tasks.