TY - GEN
T1 - Model-mediated teleoperation for multi-operator multi-robot systems
AU - Passenberg, Carolina
AU - Peer, Angelika
AU - Buss, Martin
PY - 2010
Y1 - 2010
N2 - Knowledge about the remote environment can be used in the control law to improve robustness and fidelity of haptic teleoperation systems. Model-mediated teleoperation adopts this idea by rendering an estimated model of the remote environment on local site instead of transmitting force/velocity flows. 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. The theoretical results show a superior performance of the proposed method compared to a classic bilateral approach. Experimental results confirm the practical efficiency of the presented approach.
AB - Knowledge about the remote environment can be used in the control law to improve robustness and fidelity of haptic teleoperation systems. Model-mediated teleoperation adopts this idea by rendering an estimated model of the remote environment on local site instead of transmitting force/velocity flows. 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. The theoretical results show a superior performance of the proposed method compared to a classic bilateral approach. Experimental results confirm the practical efficiency of the presented approach.
UR - http://www.scopus.com/inward/record.url?scp=78651483443&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5653012
DO - 10.1109/IROS.2010.5653012
M3 - Conference contribution
AN - SCOPUS:78651483443
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4263
EP - 4268
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -