Micro-macro multilateral teleoperation through scaled information flow

Ugur Tumerdem, Tomoyuki Shimono, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
ページ2911-2916
ページ数6
ISBN(印刷版)9781424417667
DOI
出版ステータスPublished - 2008 1月 1

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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