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

システムデザイン工学科

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	Haptics
ホスト出版物のサブタイトル	Generating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
ページ	155-160
ページ数	6
版	PART 1
DOI	https://doi.org/10.1007/978-3-642-14064-8_23
出版ステータス	Published - 2010 8月 6
イベント	International Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands 継続期間: 2010 7月 8 → 2010 7月 10

出版物シリーズ

名前	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号	PART 1
巻	6191 LNCS
ISSN（印刷版）	0302-9743
ISSN（電子版）	1611-3349

Other

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

ASJC Scopus subject areas

理論的コンピュータサイエンス
コンピュータサイエンス（全般）

文献へのアクセス

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

他のファイルとリンク

引用スタイル

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 その他.
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).

研究成果: 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 その他. / 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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