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
Pages	2911-2916
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2008.4758422
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

Tumerdem, U., Shimono, T., & Ohnishi, K. (2008). Micro-macro multilateral teleoperation through scaled information flow. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2911-2916). [4758422] https://doi.org/10.1109/IECON.2008.4758422

Tumerdem, U, Shimono, T & Ohnishi, K 2008, Micro-macro multilateral teleoperation through scaled information flow. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758422, pp. 2911-2916, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758422

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Access to Document

10.1109/IECON.2008.4758422