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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: |
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| Date: | 01 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 | ||||||||
| HGF - Program: | Space | ||||||||
| 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: | 15 Jan 2010 00:07 |
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