Trends in the Control Schemes for Bilateral Teleoperation with Time Delay

Zhu, Jihong; He, Xiaodong; Gueaieb, Wail

doi:10.1007/978-3-642-21538-4_15

Cited by 13 publications

(9 citation statements)

References 24 publications

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“…Those two design goals are defined as in section 1.3. Some of the proposed schemes are surveyed in [2,5,20,33,50,68,69,80,105]. These designs have mainly been proposed over the last two decades.…”

Section: Summary and Thesis Outlinementioning

confidence: 99%

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Zhu

Gueaieb

2012

Autonomous and Intelligent Systems

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In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact.When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft).In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.ii Acknowledgements First and foremost I'd like to thank God for guiding me into and through this adventure. I have learned much during thesis time.With all my heart, I want to thank my parents for their continuous and unchanging love, care and support.To my dear church family and friends, thank you so much for your prayers, suggestions and encouragements throughout this time! Thank you also for constantly reminding me that thesis is not and should not be the centre of my life.Many thanks to my classmates as well, old and new, for the fun times we had together during my master's degree.I would also like to thank my supervisor Dr. Gueaieb for his support, guidance and help.iii

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Section: Summary and Thesis Outlinementioning

confidence: 99%

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Zhu

Gueaieb

2012

Autonomous and Intelligent Systems

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“…At the highest level, our Master-Slave Control Architecture (Zhu et al, 2011) features a simulation server that maintains an environmental model and simulated robotic entities with sensors and actuators. All simulation components are based on the commercial Marilou robotics simulator (Anykode, 2011).…”

Section: System Architecturementioning

confidence: 99%

A Control Paradigm for Decoupled Operation of Mobile Robots in Remote Environments

Pillat¹,

Nagendran²,

Hughes³

2012

Proceedings of the International Conference on Computer Graphics Theory and Applications

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Remote operation of robots in distant environments presents a significant challenge for direct control due to inherent issues with latency and available bandwidth. Purely autonomous behaviors in such environments come with the associated risks of failure. It may be advantageous to acquire information about the environment from the robot's onboard sensors, to recreate a simulation and plan a mission beforehand. The planned mission can then be uploaded to the robot for execution, allowing the physical robot to handle the autonomy required for completing its task. In this paper, the foundations of a control paradigm are presented that uses a simulated virtual environment to decouple the operator from the physical robot, thus circumventing latency problems. To achieve this, it is first required to accurately model the robot's kinematic parameters for use in the simulation. Kalman filtering techniques that demonstrate this modeling for a differential drive robot are presented in this paper. The estimated parameters are then used as inputs to a modular planning and execution module. Based on simulation results, a safe and non-redundant path can then be uploaded and executed on the real robot.

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“…Still, comprehensive analysis of the role of the energy reservoir based regulator is not provided and only simulation studies were conducted. More complete literature survey can be found in [40][41][42] for further reading.…”

Section: Introductionmentioning

confidence: 99%

A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay

Guo

Liu

Poignet

2018

J Intell Robot Syst

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Trends in the Control Schemes for Bilateral Teleoperation with Time Delay

Cited by 13 publications

References 24 publications

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

A Control Paradigm for Decoupled Operation of Mobile Robots in Remote Environments

A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay

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