Adaptive Formation Control of Cooperative Teleoperators With Intermittent Communications

Abstract

Most research so far in teleoperation control has assumed that all information is transmitted continuously. Unfortunately, the damaged and electromagnetic interfered line cause communication link failure. In addition, the unreliable link further leads to port data congestion. The data packet will be discarded when the buffer overflows. Consequently, it is unknown whether stability of the teleoperator could be guaranteed in the presence of intermittent communications. In order to overcome these drawbacks, in this paper, we provide a solution to the formation control problem of a single-master-multislave teleoperator in the situation where each robot is allowed to communicate with its neighbors only at some irregular discrete time instants. The relationship among control gains, topology, and maximum-allowable connected interval is presented. Simulations are performed to show the validity of our proposed approach.

Read-the-game: System for skill-based visual exploratory activity assessment with a full body virtual reality soccer simulation

“…The psychological effect of immersion on the individual is the sense of presence, which can be defined as "the perceptual illusion of no mediation" [30]. Another widely accepted definition of presence is "the sense of being in a virtual space that is presented by technological means" [31] [32] [33]. That is, the individual's subjective and personal sensation of being "there" exist in a virtually recreated world.…”

Single Master Bimanual Teleoperation System With Efficient Regulation

“…Unlike the majority of multirobot systems in previous studies (e.g. [1], [16], [17], [23]- [26], [28]- [30], [44]) focusing on motion synchronization, the proposed SMBT allows the dual-arm slave robots driven by one master to simultaneously conduct different motions according to different task requirements.…”

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Nonlinear bilateral teleoperators under event‐driven communication with constant time delays

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