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 |
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| 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 | |
| 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
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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] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758422