TY - GEN
T1 - Haptic consensus in multilateral teleoperation
AU - Tumerdem, Ugur
AU - Ohnishi, Kouhei
PY - 2008/12/29
Y1 - 2008/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=57849094667&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=57849094667&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2008.4677161
DO - 10.1109/ISIE.2008.4677161
M3 - Conference contribution
AN - SCOPUS:57849094667
SN - 1424416655
SN - 9781424416653
T3 - IEEE International Symposium on Industrial Electronics
SP - 1335
EP - 1340
BT - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
T2 - 2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
Y2 - 30 June 2008 through 2 July 2008
ER -