A coordinating controller for improved task performance in multi-user teleoperation

Authors:
Hiroyuki Tanaka;Thomas Schauß;Kouhei Ohnishi;Angelika Peer;Martin Buss
Affiliations:
Department of System Design Engineering, Keio University, Japan;Institute of Automatic Control Engineering, Technische Universität München, München, Germany;Department of System Design Engineering, Keio University, Japan;Institute of Automatic Control Engineering, Technische Universität München, München, Germany;Institute of Automatic Control Engineering, Technische Universität München, München, Germany
Venue:
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Year:
2010

Citing 3
Cited 1

Development of a Multi-modal Multi-user Telepresence and Teleaction System

International Journal of Robotics Research
Evaluation of a coordinating controller for improved task performance in multi-user teleoperation

EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Bilateral teleoperation: An historical survey

Automatica (Journal of IFAC)

Evaluation of a coordinating controller for improved task performance in multi-user teleoperation

EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I

Quantified Score

Hi-index	0.00

Visualization

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.