Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace

Márton, Lőrinc; Szántó, Zoltán; Haller, Piroska; Sándor, Hunor; Szabó, Tamás; Vajda, Tamás

doi:10.11591/ijra.v3i1.4104

Cited by 4 publications

(6 citation statements)

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“…In general bilateral teleoperation systems the following communication channels are necessary (see [10]):…”

Section: A Architecture Of the Teleoperation Systemmentioning

confidence: 99%

“…The mobile robots receive their commands through a wireless network which is implemented using RF (Radio Frequency) transmitters and receivers. In case of indoor application the localization of each mobile robot can be performed using overhead cameras, see [10]. Based on the position of the mobile robots, the feedback forces are calculated for the two haptic devices and are sent back through the (F Ch) channel.…”

Section: A Architecture Of the Teleoperation Systemmentioning

confidence: 99%

“…4. Graphical representation of the F H2 forces described in [10]. The slave computer calculates the reference position for the followers, i.e.…”

Section: Experimental Measurementsmentioning

confidence: 99%

“…In the study [10] a general bilateral control framework for mobile robots was proposed which share the same workspace. Each robot is teleoperated independently by different human operators.…”

Section: Introductionmentioning

confidence: 99%

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Teleoperated mobile robot groups with reconfigurable formation

Szántó

Márton

Gyorgy

2014

2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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In this paper a formation control algorithm is proposed for teleoperated mobile robot groups. A leader robot is teleoperated directly by the human operator using a primary haptic device. The rest of the mobile robots follow the virtual reference structure attached to the leader. The shape of the structure can be reconfigured by the operator using a secondary haptic device. A method is given for generating velocities for the leader robot based on the position of the primary haptic device. A procedure is also given to calculate the haptic feedback forces for the two haptic devices. In case of the primary haptic device the force reflects the proximity of nearby obstacles. For the secondary haptic device the force feedback is calculated in such a way that it allows the human operator to sense the position of the followers. Real-time experimental measurements using wheeled mobile robots are provided to show the effectiveness of the proposed teleoperation strategy.

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“…In general bilateral teleoperation systems the following communication channels are necessary (see [10]):…”

Section: A Architecture Of the Teleoperation Systemmentioning

confidence: 99%

Section: A Architecture Of the Teleoperation Systemmentioning

confidence: 99%

“…4. Graphical representation of the F H2 forces described in [10]. The slave computer calculates the reference position for the followers, i.e.…”

Section: Experimental Measurementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Teleoperated mobile robot groups with reconfigurable formation

Szántó

Márton

Gyorgy

2014

2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Self Cite

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“…Teleoperation systems extend the human operators' capability to perform task at the remote site. In general, the teleoperation systems can be categorized into bilateral teleoperation [1] and multilateral teleoperation [2], [3]. To properly control the multilateral teleoperation system pose some challenges, especially when we consider a single master with multi-slaves configuration.…”

Section: Introductionmentioning

confidence: 99%

Data-Driven Impedance Matching in Multilateral Teleoperation Systems

Ramli

Ahmad

2018

IJEECS

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<span lang="EN-US">This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being considered, namely; grasping and handling. The object grasping is achieved through consensus control. For handling, an equalizer constructed by a Laguerre function connected in-feedback-loop to the master manipulator is chosen and tuned to achieve impedance matching between both sides of teleoperation. Fictitious Reference Iterative Tuning (FRIT) is adopted to properly tune the selected equalizer. The result shows that by introducing an optimally tuned equalizer, the overall impedance matching and transparency between the single master and multi-slave manipulators are improved. Finally, the effectiveness of the proposed tuning algorithm is presented through a numerical example.</span>

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