A coordinating controller for improved task performance in multi-user teleoperation

Hiroyuki Tanaka; Thomas Schauß; Kouhei Ohnishi; Angelika Peer; Martin Buss

doi:10.1007/978-3-642-14064-8_23

A coordinating controller for improved task performance in multi-user teleoperation

Hiroyuki Tanaka, Thomas Schauß, Kouhei Ohnishi, Angelika Peer, Martin Buss

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

A teleoperation system extends cognitive and manipulatory skills of a human to a remote site. Here, a multi-user teleoperation system consisting of two haptic interfaces and two teleoperator arms is considered. In addition to a position-based admittance control scheme between corresponding master and slave systems, we introduce a virtual coupling as coordinating controller between the two master and slave systems. Using a robust stability analysis we determine enlarged stability regions in the parameter space compared to the case without coordinating controller. As shown in a complementary paper, an evaluation of the proposed approach moreover yields significant improvements in performance and efficiency.

Original language	English
Title of host publication	Haptics
Subtitle of host publication	Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Pages	155-160
Number of pages	6
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-14064-8_23
Publication status	Published - 2010 Aug 6
Event	International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands Duration: 2010 Jul 8 → 2010 Jul 10

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	6191 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010
Country/Territory	Netherlands
City	Amsterdam
Period	10/7/8 → 10/7/10

Keywords

collaboration
coordinating controller
multi-user
parameter-space approach
robust stability
stability analysis
teleoperation
telepresence

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-642-14064-8_23

Cite this

Tanaka, H., Schauß, T., Ohnishi, K., Peer, A., & Buss, M. (2010). A coordinating controller for improved task performance in multi-user teleoperation. In Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings (PART 1 ed., pp. 155-160). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1). https://doi.org/10.1007/978-3-642-14064-8_23

A coordinating controller for improved task performance in multi-user teleoperation. / Tanaka, Hiroyuki; Schauß, Thomas; Ohnishi, Kouhei et al.
Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1. ed. 2010. p. 155-160 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6191 LNCS, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tanaka, H, Schauß, T, Ohnishi, K, Peer, A & Buss, M 2010, A coordinating controller for improved task performance in multi-user teleoperation. in Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 6191 LNCS, pp. 155-160, International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010, Amsterdam, Netherlands, 10/7/8. https://doi.org/10.1007/978-3-642-14064-8_23

Tanaka H, Schauß T, Ohnishi K, Peer A, Buss M. A coordinating controller for improved task performance in multi-user teleoperation. In Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1 ed. 2010. p. 155-160. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-14064-8_23

Tanaka, Hiroyuki ; Schauß, Thomas ; Ohnishi, Kouhei et al. / A coordinating controller for improved task performance in multi-user teleoperation. Haptics: Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings. PART 1. ed. 2010. pp. 155-160 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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A coordinating controller for improved task performance in multi-user teleoperation

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Keywords

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