TY - GEN
T1 - Micro-macro multilateral teleoperation through scaled information flow
AU - Tumerdem, Ugur
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2008/1/1
Y1 - 2008/1/1
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
AN - SCOPUS:63149191369
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2911
EP - 2916
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
ER -