TY - GEN
T1 - Integrating Haptic Data Reduction with Energy Reflection-Based Passivity Control for Time-delayed Teleoperation
AU - Xu, Xiao
AU - Panzirsch, Michael
AU - Liu, Qian
AU - Steinbach, Eckehard
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/3
Y1 - 2020/3
N2 - This paper proposes a novel solution for teleoperation over communication networks in the presence of communication unreliabilities (e.g. delay, delay jitter, cross-traffic data streams). For teleoperation over a communication network, high packet rate and system stability are the two main issues. The former leads to inefficient data transmission and cross-traffic problems, resulting in additional delay and jitter, which aggravates the latter issue. In this paper, we first propose a novel joint solution which combines the state-of-the-art power-based time-domain passivity approach (TDPA) with the perceptual-deadband haptic data reduction approach to realize teleoperation over communication networks. Since this joint solution can lead to reduced energy output and poorer force tracking, we further propose an energy-based TDPA and a time-triggered update scheme to mitigate these artifacts and improve the overall system performance. Experimental results show that the proposed solution strongly reduces the packet rate and performs better than TDPA without data reduction, when adopted in a teleoperation system over a campus WiFi network. Compared with the previous work [1], our method is less conservative and has better force tracking capabilities.
AB - This paper proposes a novel solution for teleoperation over communication networks in the presence of communication unreliabilities (e.g. delay, delay jitter, cross-traffic data streams). For teleoperation over a communication network, high packet rate and system stability are the two main issues. The former leads to inefficient data transmission and cross-traffic problems, resulting in additional delay and jitter, which aggravates the latter issue. In this paper, we first propose a novel joint solution which combines the state-of-the-art power-based time-domain passivity approach (TDPA) with the perceptual-deadband haptic data reduction approach to realize teleoperation over communication networks. Since this joint solution can lead to reduced energy output and poorer force tracking, we further propose an energy-based TDPA and a time-triggered update scheme to mitigate these artifacts and improve the overall system performance. Experimental results show that the proposed solution strongly reduces the packet rate and performs better than TDPA without data reduction, when adopted in a teleoperation system over a campus WiFi network. Compared with the previous work [1], our method is less conservative and has better force tracking capabilities.
UR - http://www.scopus.com/inward/record.url?scp=85085004953&partnerID=8YFLogxK
U2 - 10.1109/HAPTICS45997.2020.ras.HAP20.2.4ff61dc8
DO - 10.1109/HAPTICS45997.2020.ras.HAP20.2.4ff61dc8
M3 - Conference contribution
AN - SCOPUS:85085004953
T3 - IEEE Haptics Symposium, HAPTICS
SP - 109
EP - 114
BT - 2020 IEEE Haptics Symposium, HAPTICS 2020
PB - IEEE Computer Society
T2 - 26th IEEE Haptics Symposium, HAPTICS 2020
Y2 - 28 March 2020 through 31 March 2020
ER -