  Bilateral teleoperation offers an intriguing solution towards shared autonomy
with aerial vehicles in contact-based inspection and manipulation tasks.
Omnidirectional aerial robots allow for full pose operations, making them
particularly attractive in such tasks. Naturally, the question arises whether
standard bilateral teleoperation methodologies are suitable for use with these
vehicles. In this work, a fully decoupled 6DoF bilateral teleoperation
framework for aerial physical interaction is designed and tested for the first
time. The method is based on the well established rate control, recentering and
interaction force feedback policy. However, practical experiments evince the
difficulty of performing decoupled motions in a single axis only. As such, this
work shows that the trivial extension of standard methods is insufficient for
omnidirectional teleoperation, due to the operators physical inability to
properly decouple all input DoFs. This suggests that further studies on
enhanced haptic feedback are necessary.
