TY - GEN
T1 - Transparency of the generalized scattering transformation for haptic telepresence
AU - Vittorias, Iason
AU - Hirche, Sandra
PY - 2010
Y1 - 2010
N2 - In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results on a three degree-of-freedom teleoperation system validate the presented approach.
AB - In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results on a three degree-of-freedom teleoperation system validate the presented approach.
KW - communication unreliabilities
KW - control
KW - teleoperation
KW - transparency
UR - https://www.scopus.com/pages/publications/77955159999
U2 - 10.1007/978-3-642-14064-8_27
DO - 10.1007/978-3-642-14064-8_27
M3 - Conference contribution
AN - SCOPUS:77955159999
SN - 3642140637
SN - 9783642140631
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 183
EP - 188
BT - Haptics
T2 - International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
Y2 - 8 July 2010 through 10 July 2010
ER -