A coordinating controller for improved task performance in multi-user teleoperation

Hiroyuki Tanaka, Thomas Schauß, Kouhei Ohnishi, Angelika Peer, Martin Buss

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

A teleoperation system extends cognitive and manipulatory skills of a human to a remote site. Here, a multi-user teleoperation system consisting of two haptic interfaces and two teleoperator arms is considered. In addition to a position-based admittance control scheme between corresponding master and slave systems, we introduce a virtual coupling as coordinating controller between the two master and slave systems. Using a robust stability analysis we determine enlarged stability regions in the parameter space compared to the case without coordinating controller. As shown in a complementary paper, an evaluation of the proposed approach moreover yields significant improvements in performance and efficiency.

本文言語English
ホスト出版物のタイトルHaptics
ホスト出版物のサブタイトルGenerating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
ページ155-160
ページ数6
PART 1
DOI
出版ステータスPublished - 2010 8 6
イベントInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands
継続期間: 2010 7 82010 7 10

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号PART 1
6191 LNCS
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

OtherInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
国/地域Netherlands
CityAmsterdam
Period10/7/810/7/10

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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