Results 121 to 130 of about 425 (174)

On Bilateral Teleoperation of Aerial Robots

IEEE Transactions on Robotics, 2014
This paper presents a generic hierarchical passive teleoperation control architecture that effectively addresses the issues of workspace incompatibility and precision, as well as other classical and peculiar challenges. More specifically, the control scheme consists of a user-defined variable scale mapping, a variable impedance master controller, and a
Abeje Yenehun Mersha, Stefano Stramigioli, Raffaella Carloni   +2 more
openaire   +2 more sources

Thermal bilateral coupling in teleoperators

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
This paper presents a new method and formalism to achieve thermal feedback for teleoperation and telepresence applications. The basic idea is to realize an approach similar to force reflecting telerobotics. That is to say, bilateral coupling between thermal temperature and thermal flux variables.
Drif, Abdelhamid, Citérin, Johann, Kheddar, Abderrahmane   +2 more
openaire   +1 more source

Telepresence Index for Bilateral Teleoperations

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2012
This paper proposes a performance index called telepresence index for bilateral teleoperation, which can be used both for the performance evaluation of bilateral control architectures and for design purposes. This index is intended to represent a comprehensive performance objective consisting of transparency and kinematic correspondence, which are two ...
Chang, PH Chang, Pyung Hun, Kim, J Kim, Jonghyun   +1 more
openaire   +4 more sources

Bilateral teleoperation through the Internet

Robotics and Autonomous Systems, 2007
This paper proposes a stable control structure for the bilateral teleoperation of robots through Internet. The problem is motivated by the increasing use of the Internet as a communication channel. Internet has a time-varying delay which depends on factors such as congestion, bandwidth and distance.
Emanuel Slawiñski, José F. Postigo, Vicente A. Mut   +2 more
openaire   +1 more source

Bilateral teleoperation of mobile robots

Robotica, 2002
A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators.
Vicente A. Mut, José F. Postigo, Emanuel Slawiñski, Benjamín R. Kuchen   +3 more
openaire   +1 more source

On tracking performance in bilateral teleoperation

IEEE Transactions on Robotics, 2006
This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general.
Nikhil Chopra, Mark W. Spong, Romeo Ortega, Nikita E. Barabanov   +3 more
openaire   +1 more source

On position tracking in bilateral teleoperation

Proceedings of the 2004 American Control Conference, 2004
This paper addresses the problem of position tracking in bilateral teleoperation. Passivity based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee position tracking in general.
Nikhil Chopra, Mark W. Spong, Romeo Ortega, Nikita E. Barabanov   +3 more
openaire   +1 more source

Switching Robust Control for Bilateral Teleoperation

IEEE Transactions on Control Systems Technology, 2016
The inherent transparency-stability tradeoff in bilateral teleoperation poses a challenge to design controllers that find a proper balance between both requirements. Furthermore, when the environment of the teleoperation system varies within a large range, a single controller might not be sufficient to achieve both stability and high performance.
Cesar A. Lopez Martinez, René van de Molengraft, Siep Weiland, Maarten Steinbuch   +3 more
openaire   +2 more sources

Bilateral teleoperation of cooperative manipulators

2012 IEEE International Conference on Robotics and Automation, 2012
This paper presents an adaptive controller for the bilateral teleoperation of a system composed by a single local manipulator and multiple cooperative remote manipulators handling a common object. First, the nonlinear operational space dynamical behavior of the complete teleoperation system is derived.
Carlos I. Aldana, Emmanuel Nuno, Luis Basañez   +2 more
openaire   +1 more source

Stabilization of bilateral teleoperators with asymmetric stochastic delay

Systems & Control Letters, 2021
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Francesco Giuseppe Cordoni, Luca Di Persio, Riccardo Muradore   +2 more
openaire   +3 more sources