Abstract
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 that with the new method it is possible to realize a completely distributed control, that can be employed on flexible networks. The method is then applied to micro-macro teleoperation systems with multiple robots. Experiments with different size robots verify our claims.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 |
| Pages | 2911-2916 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States Duration: 2008 Nov 10 → 2008 Nov 13 |
Other
| Other | 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 |
|---|---|
| Country | United States |
| City | Orlando, FL |
| Period | 08/11/10 → 08/11/13 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Micro-macro multilateral teleoperation through scaled information flow. / Tumerdem, Ugur; Shimono, Tomoyuki; Ohnishi, Kouhei.
Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2911-2916 4758422.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Micro-macro multilateral teleoperation through scaled information flow
AU - Tumerdem, Ugur
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - 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 that with the new method it is possible to realize a completely distributed control, that can be employed on flexible networks. The method is then applied to micro-macro teleoperation systems with multiple robots. Experiments with different size robots verify our claims.
AB - 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 that with the new method it is possible to realize a completely distributed control, that can be employed on flexible networks. The method is then applied to micro-macro teleoperation systems with multiple robots. Experiments with different size robots verify our claims.
UR - http://www.scopus.com/inward/record.url?scp=63149191369&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63149191369&partnerID=8YFLogxK
U2 - 10.1109/IECON.2008.4758422
DO - 10.1109/IECON.2008.4758422
M3 - Conference contribution
SN - 9781424417667
SP - 2911
EP - 2916
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
ER -