Panzirsch, Michael and Hulin, Thomas and Artigas Esclusa, Jordi and Ott, Christian and Ferre, Manuel (2016) Integrating Measured Force Feedback in Passive Multilateral Teleoperation. In: 10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016. Springer Berlin Heidelberg. EuroHaptics 2016, 2016-07-04 - 2016-07-07, London, England. doi: 10.1007/978-3-319-42321-0_29. ISBN 978-3-319-42321-0. ISSN 0302-9743.
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Abstract
In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no Approach allowing measured force feedback in time delayed multilateral Systems that allow the interaction of multiple agents can be found in literature. To this end, this paper presents a multilateral setup with passive measured force feedback based on the time domain passivity approach. Besides this solution to measured force feedback in multilateral systems, the presented approach promises improvements compared to other time invariant and model based approaches for measured force feedback also when applied to bilateral systems. Experiments are presented to allow for a performance analysis of the proposed system design.
Item URL in elib: | https://elib.dlr.de/105344/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||||||||||
Title: | Integrating Measured Force Feedback in Passive Multilateral Teleoperation | ||||||||||||||||||||||||
Authors: |
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Date: | 4 July 2016 | ||||||||||||||||||||||||
Journal or Publication Title: | 10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016 | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
DOI: | 10.1007/978-3-319-42321-0_29 | ||||||||||||||||||||||||
Publisher: | Springer Berlin Heidelberg | ||||||||||||||||||||||||
Series Name: | Lecture Notes in Computer Science | ||||||||||||||||||||||||
ISSN: | 0302-9743 | ||||||||||||||||||||||||
ISBN: | 978-3-319-42321-0 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | teleoperation, measured force feedback, passivity, TDPA | ||||||||||||||||||||||||
Event Title: | EuroHaptics 2016 | ||||||||||||||||||||||||
Event Location: | London, England | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Start Date: | 4 July 2016 | ||||||||||||||||||||||||
Event End Date: | 7 July 2016 | ||||||||||||||||||||||||
Organizer: | EuroHaptics | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Telerobotics (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||
Deposited By: | Panzirsch, Michael | ||||||||||||||||||||||||
Deposited On: | 25 Jul 2016 13:53 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 20:10 |
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