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Time Domain Passivity for delayed Haptic Telepresence with Energy Reference

Artigas, Jordi and Preusche, Carsten and Hirzinger, Gerd (2007) Time Domain Passivity for delayed Haptic Telepresence with Energy Reference. In: Proceedings, IEEE International Conference on Intelligent Robots and Systems, pp. 1612-1617. IEEE / IROS, San Diego, CA (USA).

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Abstract

This paper presents a new control strategy based on the Time Domain Passivity Control approach which copes with the active nature of delayed communication channels. Describing the system by means of network elements, the energy of the communication channel can be computed in real time and subsequently dissipated, thus providing stable operation. This is done bilaterally, since the system energy may flow from master to slave and from slave to master. The approach is accompanied with some experiments which validate the method.

Document Type:Conference or Workshop Item (Paper)
Title:Time Domain Passivity for delayed Haptic Telepresence with Energy Reference
Authors:
AuthorsInstitution or Email of Authors
Artigas, JordiUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:1 May 2007
Journal or Publication Title:Proceedings, IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1612-1617
Status:Published
Keywords:teleoperation, telepresence, time delay, time domain passivity, wave variables, passivity
Event Title:IEEE / IROS
Event Location:San Diego, CA (USA)
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jordi Artigas Esclusa
Deposited On:22 Oct 2008
Last Modified:12 Dec 2013 20:33

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