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Panzirsch, Michael and Artigas, Jordi and Ryu, Jee-Hwan and Ferre, Manuel (2013) Multilateral Control for Delayed Teleoperation. In: 14th International Conference on Advanced Robotics. IEEE. ICAR 2013, 2013-11-25 - 2013-11-29, Montevideo, Uruguay. doi: 10.1109/ICAR.2013.6766476.
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Abstract
This paper explores the haptic interaction between various users collaborating in performing a manipulation of an environment through telerobotic systems. In this type of interactions, mechanical energy is simultaneously exchanged between the users and the object being manipulated. Moreover, agents can be physically located at high distances to each other as well as objects, resulting in non-neglectful time delays. A framework based on passivity is presented to allow stable designs and implementations of multi-user/robot interactions. The common Position-Force (PF) and Position-Position (PP) can be applied as links between two agents in the multilateral system in a modular way.
| Item URL in elib: | https://elib.dlr.de/86556/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Multilateral Control for Delayed Teleoperation | ||||||||||||||||||||
| Authors: |
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| Date: | November 2013 | ||||||||||||||||||||
| Journal or Publication Title: | 14th International Conference on Advanced Robotics | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/ICAR.2013.6766476 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | teleoperation, training, multilateral, haptics, time delay, TDPA, telemanipulation, model mediated control, n-port, network | ||||||||||||||||||||
| Event Title: | ICAR 2013 | ||||||||||||||||||||
| Event Location: | Montevideo, Uruguay | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 25 November 2013 | ||||||||||||||||||||
| Event End Date: | 29 November 2013 | ||||||||||||||||||||
| Organizer: | Universidad de la Republica del Uruguay, School of Engineering | ||||||||||||||||||||
| 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 - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems | ||||||||||||||||||||
| Deposited By: | Panzirsch, Michael | ||||||||||||||||||||
| Deposited On: | 17 Dec 2013 14:05 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 19:52 |
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