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Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Emre Uzunoğlu, Mehmet İsmet Can Dede
2015 Robotica (Cambridge. Print)  
The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication.  ...  Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication.  ...  Acknowledgements The authors would like to thank to The Scientific and Technological Research Council of Turkey for funding the research presented in this work (grant number 113E147).  ... 
doi:10.1017/s0263574715001010 fatcat:xtk2ow5q5jhm5efllenafk7kwa

Supervising Remote Humanoids Across Intermediate Time Delay

Kimberly Hambuchen, William Bluethmann, Michael Goza, Robert Ambrose, Kenneth Rabe, Mark Allan
2006 2006 6th IEEE-RAS International Conference on Humanoid Robots  
Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive.  ...  An approach for controlling humanoids under intermediate time delay is presented.  ...  The SES also enables the supervisor to manipulate and move objects in the environment. To mimic the robots abilities, the supervisor must be able to grasp, move, release and interact with objects.  ... 
doi:10.1109/ichr.2006.321392 dblp:conf/humanoids/HambuchenBGARA06 fatcat:kxn7emg5bzgspnyu3asjazxsiq

Invited review: the synergy between virtual reality and robotics

G.C. Burdea
1999 IEEE Transactions on Robotics and Automation  
Newer backdrivable manipulators offer increased safety for the user that closely interacts with the robot.  ...  Here VR can help overcome problems related to poor visual feedback as well as system instabilities due to time delays.  ...  Teleoperation with Time Delays Another difficulty associated with teleoperation is the presence of time delays due to communications over long distances.  ... 
doi:10.1109/70.768174 fatcat:cu5dxptflvh6xh6h2jm4hpa4te

Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation

Michael Panzirsch, Harsimran Singh, Thomas Kruger, Christian Ott, Alin Albu-Schaffer
2020 2020 IEEE Aerospace Conference  
An available laser link to the moon provides a high-bandwidth communication with 2.6s roundtrip-delay, which currently allows for supervised control, for example via a tablet interface.  ...  The international space agencies plan to implement orbiting space stations around celestial bodies as moon or Mars in the near future.  ...  Tactile Internet with Human-in-the-Loop" (CeTI) of Technische Universität Dresden."  ... 
doi:10.1109/aero47225.2020.9172665 fatcat:wd6rwvuzizgqbbyoirxsllyzdi

Bilateral control of master-slave manipulators with constant time delay

A. Forouzantabar, H. A. Talebi, A. K. Sedigh
2011 Proceedings of the 2011 American Control Conference  
This paper proposed a novel frame work for bilateral teleoperation systems with a multi-degree-of-freedom (DOF) nonlinear robotic system in master and slave side with constant time delay in communication  ...  The proposed controller employs a PID controller in each side to overcome some limitation of PD controller and guarantee good performance.  ...  The first work solving time delay problem in teleoperation appeared in 1989.  ... 
doi:10.1109/acc.2011.5991233 fatcat:qrmdup4azvgfljzksskw6k4a7i

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Xiao Xu, Burak Cizmeci, Anas Al-Nuaimi, Eckehard Steinbach
2014 IEEE Transactions on Instrumentation and Measurement  
Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay.  ...  In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models.  ...  For teleoperation systems with geographically separated operators and teleoperators, time delay introduced by the communication network always exists.  ... 
doi:10.1109/tim.2014.2323139 fatcat:3oe7u2f7u5fbhhbwkdxnswiaoi

Virtual Reality-based Teleoperation with Robustness Against Modeling Errors

Jiang Zainan, Liu Hong, Wang Jie, Huang Jianbin
2009 Chinese Journal of Aeronautics  
VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model.  ...  This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors.  ...  The time delay in the force feedback teleoperation causes instability [2] . For the short time delay, R. J. Anderson, et al.  ... 
doi:10.1016/s1000-9361(08)60106-5 fatcat:aop6zfhtsfa5jclbfy354axggm

Intercontinental multimodal tele-cooperation using a humanoid robot

A. Peer, S. Hirche, C. Weber, I. Krause, M. Buss, S. Miossec, P. Evrard, O. Stasse, Ee Sian Neo, A. Kheddar, K. Yokoi
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay.  ...  Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup.  ...  Hereby direct interactions with the teleoperator as well as interactions via an object (O) can be considered.  ... 
doi:10.1109/iros.2008.4650829 dblp:conf/iros/PeerHWKBMESNKY08 fatcat:fit7iaj3frflziwwbx3zav5t5y

A Fog Robotic System for Dynamic Visual Servoing [article]

Nan Tian, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi
2018 arXiv   pre-print
Visual feedbacks, including apriltag recognition and tracking, are performed in the cloud to emulate a Fog Robotic object recognition system for IBVS.  ...  In this work, by leveraging asynchronous protocol with a heartbeat signal, we combine cloud robotics with a smart edge device to build a Fog Robotic system.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the Sponsors.  ... 
arXiv:1809.06716v1 fatcat:nyrzr5ixrbhmzltdxewsgidlya

Performance analysis of a manipulation task in time-delayed teleoperation

Michael C Yip, Mahdi Tavakoli, Robert D Howe
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Through a user study involving unilateral and bilateral teleoperation experiments under different delays, it is observed that in both unilateral and bilateral teleoperation, the task completion time increases  ...  However, with the users mindful of minimizing contact forces, haptic feedback causes the task to take more time compared to no haptic feedback regardless of the time delay.  ...  It was found that subjects interacting with delayed force fields underestimate (overestimate) stiffness if they do not move (do move) across the boundary of the elastic field.  ... 
doi:10.1109/iros.2010.5651279 dblp:conf/iros/YipTH10 fatcat:ggx5n2jr6fcnvk2pnggsr4jnuy

Virtual Environment for Cooperative Assistance in Teleoperation

Olivier Heguy, Nancy Rodriguez, Hervé Luga, Jean-Pierre Jessel, Yves Duthen
2001 International Conference in Central Europe on Computer Graphics and Visualization  
In order to help the user to accomplish a task, teleoperation systems have to integrate different tools such as visualization, divers interaction devices, planning tools, etc....  ...  The objective of our project is to combine teleoperation, virtual reality and adaptive systems to improve the control of teleoperation missions.  ...  Each time a move is impossible (collision with an object of the scene) it is removed from the individual and the process continue until the end of the sequence.To speed up the process, another operator  ... 
dblp:conf/wscg/HeguyRLJD01 fatcat:pqhbronyzfdgddnrmjuthzxrfy

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control [article]

Ruoshi Wen, Quentin Rouxel, Michael Mistry, Zhibin Li, Carlo Tiseo
2022 arXiv   pre-print
The collaborative manipulation framework has three main modules: (1) contact force modulation for compliant physical interactions with objects via admittance control; (2) task-space sequential equilibrium  ...  controller adopted from the fractal impedance control, which is robust to time delay and stable to superimpose multiple control efforts for generating desired joint torques and controlling the dual-arm  ...  ACKNOWLEDGMENT This research is supported by the EPSRC Future AI and Robotics for Space (EP/R026092/1), ORCA (EP/R026173/1), NCNR (EP/R02572X/1), EU Horizon2020 project THING (ICT-2017-1), and EU Horizon2020  ... 
arXiv:2206.00528v1 fatcat:nepj6k6herdutbkkdiqoxyupki

Model-Mediated Teleoperation for multi-operator multi-robot systems

C Passenberg, A Peer, M Buss
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Knowledge about the remote environment can be used in the control law to improve robustness and fidelity of haptic teleoperation systems.  ...  In this paper, we extend the original model-mediated teleoperation approach to multi-operator multi-robot teleoperation systems. A theoretic robustness and fidelity analysis is conducted.  ...  This approach has been investigated for contact situations in single-user teleoperation systems with and without time delay.  ... 
doi:10.1109/iros.2010.5653012 dblp:conf/iros/PassenbergPB10 fatcat:mep26rxidzb2vecf3xb6bet2pa

Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics

Mattias Bratt, Christian Smith, Henrik Christensen
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed.  ...  It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays.  ...  The same C++ objects define the free space used in obstacle avoidance for the mobile platform.  ... 
doi:10.1109/iros.2006.282127 dblp:conf/iros/BrattSC06 fatcat:tbla5anehja3filgte7mv5rylu

Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

Changhoon Seo, Jong-Phil Kim, Jaeha Kim, Hyo-Sung Ahn, Jeha Ryu
2011 Journal of Mechanical Science and Technology  
This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops.  ...  We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation  ...  The main objective of this paper is to robustly stabilize the bilateral teleoperation system with time delays by applying the EBA bilaterally.  ... 
doi:10.1007/s12206-011-0523-8 fatcat:akjw6n3hvzcxxefzmxebyh6lyq
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