Model-mediated teleoperation for multi-operator multi-robot systems

Carolina Passenberg, Angelika Peer, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

29 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4263-4268
Number of pages6
DOIs
StatePublished - 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/TerritoryTaiwan, Province of China
CityTaipei
Period18/10/1022/10/10

Fingerprint

Dive into the research topics of 'Model-mediated teleoperation for multi-operator multi-robot systems'. Together they form a unique fingerprint.

Cite this