Model-based Decentralized Control of Time-delay Teleoperation Systems
International Journal of Robotics Research
Adaptive/robust control for time-delay teleoperation
IEEE Transactions on Robotics
Motion synchronization control of distributed multisubsystems with invariant local natural dynamics
IEEE Transactions on Robotics
Dual-master teleoperation control of kinematically redundant robotic slave manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
Shared control architectures for haptic training: Performance and coupled stability analysis
International Journal of Robotics Research
Assessment of environmental effects on collaborative haptic guidance
Presence: Teleoperators and Virtual Environments
A small gain framework for networked cooperative force-reflecting teleoperation
Automatica (Journal of IFAC)
Adaptive Control of Bilateral Teleoperation with Time Delay
International Journal of Intelligent Mechatronics and Robotics
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This paper presents a multilateral control architecture for teleoperation in multimaster/multislave environments. The proposed framework incorporates flow of position and force information between all master and slave robots, rather than merely between corresponding units. Within this architecture, cooperative performance measures are defined to enhance coordination among the operators and the robots for achieving the task objectives. A μ-synthesis-based methodology for cooperative teleoperation control is also introduced. This approach guarantees robust stability of cooperative teleoperation in the presence of dynamic interaction between slave robots, as well as unknown passive operators and environment dynamics. It also improves task coordination by optimizing relevant performance objectives. Experiments carried out with a two-master/two-slave single-axis system demonstrate the effectiveness of the proposed approach.