Results 161 to 170 of about 4,497 (212)
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On Bilateral Teleoperation of Aerial Robots
IEEE Transactions on Robotics, 2014This 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
Mersha, A.Y. +2 more
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Bilateral parallel force/position teleoperation control
Journal of Robotic Systems, 1999AbstractThe extension of parallel force/position control to teleoperation systems is considered in this article. In the proposed four‐channel bilateral controller, higher priority is granted to position control at the master side and to force control at the slave side.
Hashtrudi-Zaad, Keyvan +1 more
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Bilateral teleoperation with communication delays
International Journal of Robust and Nonlinear Control, 2003AbstractThis paper focuses on the closed‐loop stability analysis of a teleoperation control scheme subject to time‐delays in the communication channel. The stability conditions derived using a frequency‐domain approach areanalyticaland easy to check.Delay‐independentas well as variousdelay‐intervalsstability cases are treated.
Niculescu, Silviu-Iulian +2 more
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Haptic Consensus in Bilateral Teleoperation
Mechatronics, 2007 IEEE International Conference on, 2007In this paper, haptic consensus is introduced for networked robotics; specifically teleoperation systems. Haptic consensus basically employs distributed consensus algorithms, forcing the networked robots to agree on system states such as position, acceleration and force. Once the systems agree on these states they have a haptic coupling.
Ugur Tumerdem, Kouhei Ohnishi
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Bilateral teleoperation of mobile robots
Robotica, 2002A 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 Mut +3 more
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Bilateral teleoperation through the Internet
Robotics and Autonomous Systems, 2007This 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 +2 more
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Synchronization of Bilateral Teleoperators
2015This chapter first studies passivity of a feedback interconnection of two passive systems under input-output time delays. It is then demonstrated that, the feedback interconnection in the presence of delays is passive under appropriate passivity conditions on the individual systems.
Takeshi Hatanaka +3 more
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Simulated Bilateral Teleoperation of Robonaut
AIAA Space 2003 Conference & Exposition, 2003Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with DARPA. With dexterous hands and arms, Robonaut is designed to function as an EVA astronaut equivalent. Robosim, a software simulation of Robonaut, is a separate platform for developing and refining telepresence ...
Marcia O'Malley +3 more
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Nonlinear Bilateral Teleoperation: Stability Analysis
2009 IEEE International Conference on Robotics and Automation, 2009This paper aims to take a first step towards the unification of the stability analysis for teleoperators with time-delays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the stability of different control schemes, ranging from constant to variable time delays, with or without the scattering transformation
E. Nuno, L. Basanez
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Perception-centric force scaling in bilateral teleoperation
Mechatronics, 2010Abstract In this work we propose a control architecture that leads to an intrinsically stable bilateral teleoperation system, where the telepresence of the user is improved in terms of remote force discrimination. We identify, through a set of psychophysical experiments, a variable force scaling matrix that improves the operator’s feeling of the ...
D. Botturi +3 more
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