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Passivity-based control for bilateral teleoperation: A tutorial
Automatica, 2011This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or ...
Emmanuel Nuño +2 more
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Improvement of Performances in Bilateral Teleoperation by Using FPGA
IEEE Transactions on Industrial Electronics, 2006Bilateral teleoperation has been needed in many scenes such as space activities or undersea, work on a atomic power plant and minimally invasive surgery, etc. In bilateral teleoperation, transfer of keen tactile sense as if the operator directly touch the environment without using the robot is required.
Ena Ishii, Hiroaki Nishi, Kouhei Ohnishi
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Reproducibility and operationality in bilateral teleoperation
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04., 2004There are many works about bilateral teleoperation. However, good touch sense of remote object has not been realized in actual system yet. In this paper, the goals of bilateral teleoperation are considered as following two points. One is a reproduction of environmental impedance in master side.
W. Iida, K. Ohnishi
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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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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.
Keyvan Hashtrudi-Zaad +1 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 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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Bilateral teleoperation transparency at steady states
2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), 2022Pierre-Philippe Robet +3 more
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A Review on Haptic Bilateral Teleoperation Systems
Journal of Intelligent & Robotic Systems, 2021Syeda Nadiah Fatima Nahri +2 more
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