Haptic consensus in multilateral teleoperation

Ugur Tumerdem, Kouhei Ohnishi

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

9 Citations (Scopus)


In this paper, a distributed control law is proposed for multirobot haptic teleoperation, based on consensus algorithms and acceleration control. This novel technique, called haptic consensus, enables robots on a network to agree on their accelerations, velocities and positions as well as a common force feedforward, by simply communicating the state data and force measurements of the robots on the information network. The key technology developed in this paper to realize haptic consensus is the acceleration consensus algorithm and a force consensus filter, which computes an average of the force measurements of the robots in a distributed way. Using these tools together we obtain the haptic consensus algorithm which enables multilateral teleoperation. In this paper, we also show experiment results for haptic consensus on a teleoperation network, with multiple telerobots, enabling multiple operators to agree on a common teleoperation task by tactile sensation.

Original languageEnglish
Title of host publication2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Number of pages6
Publication statusPublished - 2008 Dec 29
Event2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
Duration: 2008 Jun 302008 Jul 2

Publication series

NameIEEE International Symposium on Industrial Electronics


Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering


Dive into the research topics of 'Haptic consensus in multilateral teleoperation'. Together they form a unique fingerprint.

Cite this