cs.ROOct 10, 2026

Shared-Control Teleoperation of Omnidirectional Aerial Robots for Continuous Valve Rotation

Authors: Jinjie Li, Yicheng Chen, Haokun Liu, Moju Zhao

Organizations: DRAGON Lab, Department of Mechanical Engineering, The University of Tokyo, Tokyo 113-8656, Japan

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Abstract

Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although there have been advancements in robotic autonomy, human operation remains essential in complex aerial environments. Previously, we proposed an aerial teleoperation system that brings the rotational flexibility of human hands into the unbounded aerial workspace, which was evaluated through a vertically mounted valve-turning task. However, due to the limited range of human forearm's motion, the robot could not continuously rotate the valve, hindering its application in industry. In this work, we propose an approach to initiate continuous rotation when the forearm angle exceeds a threshold. This switch of control authority exemplifies the concept shared control from human-robot interaction, marking a further step in aerial teleoperation.

Figures & tables

Fig. 1: A human operator controls an omnidirectional aerial robot to continuously turn a vertically mounted valve. The robot is in Operation Mode , where its target pose is in general mapped directly from the operator’s hand pose. When the forearm rotation exceeds a threshold, continuous 360° rotation is triggered. The link of video: https://youtu.be/JuPAP6E4yR4 .
Fig. 2: Data of valve turning. When the rotation of the human hand exceeds a threshold, the robot begins continuous rotation, with the range plotted as a green forward-slash area. The yellow area highlights the period when the robot is attached to the valve. Wrench estimation was shut down for safety. The RMSEs are: pxp_{x} : 0.0690 m, pyp_{y} : 0.0622 m, pzp_{z} : 0.0468 m; roll: 7.8917 ∘ , pitch: 9.0527 ∘ , yaw: 4.1610 ∘ .

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