Power-based restoration of haptic teleoperation from communication blackout

Satoshi Hangai, Takahiro Nozaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, network-based control systems attract a lot of attentions. One of the applications of such control systems is haptic transmission using a bilateral control system. In order to construct the bilateral control system over the time delayed-network, many researchers have proposed many methods and succeeded to improve the stability and performance of the system. By assuring the system's passivity, some of conventional methods have succeeded to stabilize the system even when the communication blackout occurs. However, the passivity-based methods are conservative and deteriorate the performance. In this paper, the mode shifting method is proposed to deal with the communication blackout without considering the system's passivity. In the proposed method, the bilateral controller is shifted to a local controller when the communication blackout occurs. By shifting to the local controller, the system is not destabilized by the blackout. Moreover, when the communication recovers, the bilateral controller is gradually restored to regulate the robot's output power. Owing to the power regulation, the robots never damage environmental objects during and after the communication blackout. Therefore, the proposed method realizes stable and safe control even under the blackout. The validity of the proposed method is confirmed by simulations and a experiment.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE 17th International Conference on Industrial Informatics, INDIN 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages583-588
Number of pages6
ISBN (Electronic)9781728129273
DOIs
Publication statusPublished - 2019 Jul
Event17th IEEE International Conference on Industrial Informatics, INDIN 2019 - Helsinki-Espoo, Finland
Duration: 2019 Jul 222019 Jul 25

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
Volume2019-July
ISSN (Print)1935-4576

Conference

Conference17th IEEE International Conference on Industrial Informatics, INDIN 2019
CountryFinland
CityHelsinki-Espoo
Period19/7/2219/7/25

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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  • Cite this

    Hangai, S., & Nozaki, T. (2019). Power-based restoration of haptic teleoperation from communication blackout. In Proceedings - 2019 IEEE 17th International Conference on Industrial Informatics, INDIN 2019 (pp. 583-588). [8972235] (IEEE International Conference on Industrial Informatics (INDIN); Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN41052.2019.8972235