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 publicationHaptics
Subtitle of host publicationGenerating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Pages155-160
Number of pages6
EditionPART 1
DOIs
Publication statusPublished - 2010 Aug 6
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)0302-9743
ISSN (Electronic)1611-3349

Other

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

Keywords

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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