Loop Shaping for Transparency and Stability Robustness in Bilateral Telemanipulation

Fite, Kevin B.; Shao, Liwei; Goldfarb, Michael

doi:10.1109/tra.2004.825474

Cited by 49 publications

(37 citation statements)

References 12 publications

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“…• ). To evaluate the transparence of the platform, we have utilized the experimental approach described in [18]. The external impedance and the impedance transmitted to the operator are given as :…”

Section: A Hybrid Network Architecturementioning

confidence: 99%

A co-design approach for bilateral teleoperation over hybrid network

Khan

Genon-Catalot

Thiriet

2010

18th Mediterranean Conference on Control and Automation, MED'10

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Abstract-This paper describes a joint approach for control and communication network design for the application of bilateral teleoperation system (BTS). By ensuring a QoS oriented network architecture, a better quality of control (QoC) can be guaranteed despite the presence of time delays and packet losses. In this work, a joint approach is presented for the co-design problem to observe the improvements in QoC by network QoS for the bilateral teleoperation application.

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Section: A Hybrid Network Architecturementioning

confidence: 99%

A co-design approach for bilateral teleoperation over hybrid network

Khan

Genon-Catalot

Thiriet

2010

18th Mediterranean Conference on Control and Automation, MED'10

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“…Frequency response analysis using transfer functions is a general approach in analyzing performance in the domain of bilateral teleoperation (e.g., transparency in [13], and position and force tracking in [14]). Likewise, the relationship between the teleoperator's control effort and maneuvering accuracy can be analyzed in terms of a frequency response function for the evaluation of maneuverability performance.…”

Section: Introductionmentioning

confidence: 99%

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Son

Chuang

Franchi

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms of the human teleoperator's interaction with the controlled system. This allowed us to effectively determine the suitability of different haptic cue algorithms in improving teleoperation maneuverability. Performance metrics based on the human teleoperator's frequency response function indicate that maneuverability performance is best supported by a haptic feedback algorithm which is based on an obstacle avoidance force.

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“…(Fite et al, 2004). Sometimes the required force sensing is avoided and instead the force exerted by the control algorithm at the slave side is reflected to the user, e.g.…”

Section: Bilateral Controlmentioning

confidence: 99%

“…Loop-shaping has been applied to e.g. the Position-Force architecture by Speich et al (2000), Fite et al (2001), and Fite et al (2004). Feedback linearization was applied by Speich and Goldfarb (2005) to enable the use of loop-shaping compensators, which increases the transparency bandwidth while maintaining stability robustness, on a three degrees of freedom telemanipulation system.…”

Section: • Coupled Impedance Controllersmentioning

confidence: 99%

Control of haptic interaction : an energy-based approach

Franken¹

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Loop Shaping for Transparency and Stability Robustness in Bilateral Telemanipulation

Cited by 49 publications

References 12 publications

A co-design approach for bilateral teleoperation over hybrid network

A co-design approach for bilateral teleoperation over hybrid network

Measuring an operator's maneuverability performance in the haptic teleoperation of multiple robots

Control of haptic interaction : an energy-based approach

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