Haptic consensus in bilateral teleoperation

Ugur Tumerdem, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


In this paper, haptic consensus is introduced for networked robotics; specifically teleoperation systems. Haptic consensus basically employs distributed consensus algorithms, forcing the networked robots to agree on system states such as position, acceleration and force. Once the systems agree on these states they have a haptic coupling. Any force applied on one robot is felt by others and they can move in perfect harmony, repeating what a master does. Network topology is represented by graphs and it is shown by using graph Laplacians that the topology is very critical for the stability of the overall teleoperation system. In this paper, the simplest form of haptic consensus in a 2 robot network -bilateral teleoperation- is shown. Because bilateral teleoperation requires acceleration control, modified consensus algorithms are developed. For haptic consensus in bilateral teleoperation we introduce two new consensus algorithms; one for the acceleration consensus and one for a common acceleration feedforward. Acceleration consensus is realized by an algorithm similar to a PD controller, whereas the acceleration feedforward is determined by force consensus filters measuring the forces applied on the robots. When these algorithms are used together, it is shown that haptic consensus can be realized. The results presented in this paper can be extended to teleoperation systems with multiple robots without loss of generality.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
Publication statusPublished - 2007
Externally publishedYes
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007


Other4th IEEE International Conference on Mechatronics, ICM 2007

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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