Micro-macro multilateral teleoperation through scaled information flow

Ugur Tumerdem; Tomoyuki Shimono; Kouhei Ohnishi

doi:10.1109/IECON.2008.4758422

Micro-macro multilateral teleoperation through scaled information flow

Ugur Tumerdem, Tomoyuki Shimono, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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
Publisher	IEEE Computer Society
Pages	2911-2916
Number of pages	6
ISBN (Print)	9781424417667
DOIs	https://doi.org/10.1109/IECON.2008.4758422
Publication status	Published - 2008 Jan 1

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2008.4758422

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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. IEEE Computer Society, 2008. p. 2911-2916 4758422 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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