Results 81 to 90 of about 479 (117)

Haptic consensus in multilateral teleoperation

2008 IEEE International Symposium on Industrial Electronics, 2008
In this paper, a distributed control law is proposed for multirobot haptic teleoperation, based on consensus algorithms and acceleration control. This novel technique, called haptic consensus, enables robots on a network to agree on their accelerations, velocities and positions as well as a common force feedforward, by simply communicating the state ...
Ugur Tumerdem, Kouhei Ohnishi
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Stable multilateral teleoperation with Time Domain Passivity Approach

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
In this paper, we propose a generalized method to represent multilateral teleoperation system as an electrical network with dependent effort/flow sources which allows us to implement Time Domain Passivity Approach (TDPA) to passivate the system. Using the conventional mechanical-electrical analogy, the multilateral teleoperation system with mechanical ...
null Ha Van Quang, null Jee-Hwan Ryu
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Multilateral Cooperative Teleoperation

2015
Recently, cooperation of multiple manipulators have attracted the attention of many researchers [266–307].
Zhijun Li, Yuanqing Xia, Chun-Yi Su
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Micro-macro multilateral teleoperation through scaled information flow

2008 34th Annual Conference of IEEE Industrial Electronics, 2008
In this paper we introduce scaled consensus algorithms for scaled cooperative teleoperation using multiple robots. First we show basic results about scaled consensus algorithms, and then derive the scaled acceleration and haptic consensus algorithms necessary for scaled teleoperation on a network, by scaling the information flow on the network. We show
U. Tumerdem, T. Shimono, K. Ohnishi
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Passive four-channel multilateral shared control architecture in teleoperation

9th IEEE International Conference on Cognitive Informatics (ICCI'10), 2010
The stability of a force-reflecting bilateral teleoperator in the presence of time delay is solved in the former researches, and recently the four-channel architecture in teleoperation is focused by many literatures. This paper proposes a novel passive four-channel architecture (PFCA).
Yuji Wang, Fuchun Sun, Huaping Liu, Zidi Li   +3 more
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Switching time domain passivity control for multilateral teleoperation systems

2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), 2016
Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for
Usman Ahmad, Ya-Jun Pan, Anees ul Husnain   +2 more
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Four-Channel Control Architectures for Bilateral and Multilateral Teleoperation

International Journal of Software Science and Computational Intelligence, 2011
The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force.
Yuji Wang, Fuchun Sun, Huaping Liu
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A robust multilateral shared controller for dual-user teleoperation systems

2008 Canadian Conference on Electrical and Computer Engineering, 2008
This paper proposes a force-position multilateral shared control architecture for dual-user teleoperation systems that is robust stable to uncertainties in userspsila hand dynamics, environment impedance and userspsila dominance over the task. The proposed controller is evaluated for intermittent contact for different levels of dominance of the users ...
Behzad Khademian, Keyvan Hashtrudi-Zaad
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Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems

IEEE Transactions on Robotics, 2014
In this paper, we set out a framework for the analysis of coupled stability in dual-user linear teleoperation systems. An extension of the Zeheb–Walach (ZW) criteria for absolute stability of an $n$ -port network will be stated and proven. While the original theorem states conditions for asymptotic stability of a network terminated by passive ...
Kamran Razi, Keyvan Hashtrudi-Zaad
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Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

SPIE Proceedings, 2013
Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel.
David Erickson, Hervé Lacheray, John Daly   +2 more
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