A coordinating controller for improved task performance in multi-user teleoperation

Hiroyuki Tanaka, Thomas Schauß, Kouhei Ohnishi, Angelika Peer, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A teleoperation system extends cognitive and manipulatory skills of a human to a remote site. Here, a multi-user teleoperation system consisting of two haptic interfaces and two teleoperator arms is considered. In addition to a position-based admittance control scheme between corresponding master and slave systems, we introduce a virtual coupling as coordinating controller between the two master and slave systems. Using a robust stability analysis we determine enlarged stability regions in the parameter space compared to the case without coordinating controller. As shown in a complementary paper, an evaluation of the proposed approach moreover yields significant improvements in performance and efficiency.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages155-160
Number of pages6
Volume6191 LNCS
EditionPART 1
DOIs
Publication statusPublished - 2010
EventInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands
Duration: 2010 Jul 82010 Jul 10

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6191 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

OtherInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
CountryNetherlands
CityAmsterdam
Period10/7/810/7/10

Fingerprint

Teleoperation
Remote control
Cognitive systems
Haptic interfaces
Controller
Controllers
Haptic Interface
Cognitive Systems
Stability Region
Robust Stability
Parameter Space
Stability Analysis
Evaluation
Robust stability

Keywords

  • collaboration
  • coordinating controller
  • multi-user
  • parameter-space approach
  • robust stability
  • stability analysis
  • teleoperation
  • telepresence

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Tanaka, H., Schauß, T., Ohnishi, K., Peer, A., & Buss, M. (2010). A coordinating controller for improved task performance in multi-user teleoperation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 1 ed., Vol. 6191 LNCS, pp. 155-160). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1). https://doi.org/10.1007/978-3-642-14064-8_23

A coordinating controller for improved task performance in multi-user teleoperation. / Tanaka, Hiroyuki; Schauß, Thomas; Ohnishi, Kouhei; Peer, Angelika; Buss, Martin.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 6191 LNCS PART 1. ed. 2010. p. 155-160 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tanaka, H, Schauß, T, Ohnishi, K, Peer, A & Buss, M 2010, A coordinating controller for improved task performance in multi-user teleoperation. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 1 edn, vol. 6191 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6191 LNCS, pp. 155-160, International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010, Amsterdam, Netherlands, 10/7/8. https://doi.org/10.1007/978-3-642-14064-8_23
Tanaka H, Schauß T, Ohnishi K, Peer A, Buss M. A coordinating controller for improved task performance in multi-user teleoperation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 1 ed. Vol. 6191 LNCS. 2010. p. 155-160. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). https://doi.org/10.1007/978-3-642-14064-8_23
Tanaka, Hiroyuki ; Schauß, Thomas ; Ohnishi, Kouhei ; Peer, Angelika ; Buss, Martin. / A coordinating controller for improved task performance in multi-user teleoperation. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 6191 LNCS PART 1. ed. 2010. pp. 155-160 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).
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