Haptic consensus in multilateral teleoperation

Ugur Tumerdem, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

In this paper, a distributed control law is proposed for multirobot haptic teleoperation, based on consensus algorithms and acceleration control. This novel technique, called haptic consensus, enables robots on a network to agree on their accelerations, velocities and positions as well as a common force feedforward, by simply communicating the state data and force measurements of the robots on the information network. The key technology developed in this paper to realize haptic consensus is the acceleration consensus algorithm and a force consensus filter, which computes an average of the force measurements of the robots in a distributed way. Using these tools together we obtain the haptic consensus algorithm which enables multilateral teleoperation. In this paper, we also show experiment results for haptic consensus on a teleoperation network, with multiple telerobots, enabling multiple operators to agree on a common teleoperation task by tactile sensation.

本文言語English
ホスト出版物のタイトル2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
ページ1335-1340
ページ数6
DOI
出版ステータスPublished - 2008 12月 29
イベント2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
継続期間: 2008 6月 302008 7月 2

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
国/地域United Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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