• bimanual robotics
• TDPA
• teleoperation

The field of the present work is bilateral teleoperation. The stability and transparency of the architecture are two fundamental objectives to ensure the operator to be well immersed in the remote environment. The proposed architecture has been named bimanual because its purpose is to replicate human arms in a remote environment, using anthropomorphic manipulators, in order to be able to perform different types of tasks: from common, everyday actions to adverse contexts (such as open, submarine or unknown environments, radioactive zones, exploration operations, manipulation of nuclear plants, bomb deactivation, precision surgery).
The thesis aims to realise a passivity controller that improves the experience of grasping objects. The controller exploits particular directions of dissipation: as the manipulators close on the object in a parallel kinematic chain, constraints in the movements of the end-effectors can be taken into account to maintain the grip. The implementation of a controller that takes these constraints into account ensures that the manipulators dissipate in the Cartesian Space along the same directions and thus, allows the task to be completed successfully. The new passivity controller was tested on a setup consisting of two '3DoFs Delta Robot' as leaders and two '7DoFs Franka Emika Panda' as followers and was compared with different controllers found in literature.