@inproceedings{d6e04a68d1e848e5bec6369171717416,
title = "A coordinating controller for improved task performance in multi-user teleoperation",
abstract = "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.",
keywords = "collaboration, coordinating controller, multi-user, parameter-space approach, robust stability, stability analysis, teleoperation, telepresence",
author = "Hiroyuki Tanaka and Thomas Schau{\ss} and Kouhei Ohnishi and Angelika Peer and Martin Buss",
year = "2010",
doi = "10.1007/978-3-642-14064-8_23",
language = "English",
isbn = "3642140637",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
number = "PART 1",
pages = "155--160",
booktitle = "Haptics",
edition = "PART 1",
note = "International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 ; Conference date: 08-07-2010 Through 10-07-2010",
}