Teleoperation with soft sensation based on transformer and gyrator theorems

Abdul Muis, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task [1]. However, the delay presence in interconnection between both systems, degrade system performance. There have been two major approaches to this problem. The one who concerns on interaction safety and stability, considers teleoperation as a passive system. The rest considers delay manipulation to attain robust performance with limited stability. Obviously, bilateral system is a two-port system just like transformer and gyrator in electrical circuit. There has been tremendous effort to apply gyration for stabilization [2]. However, this paper in different way proposes bilateral teleoperation based on combination of transformer and gyrator analogies. Although with less transparency, this method provides soft sensation on delayed teleoperation. The validity of this method is confirmed through experimental results.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ346-351
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12月 152006 12月 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
国/地域India
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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