The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Stable adaptive teleoperation
Abstract
A study is made of how the existence of transmission time delays affects the application of advanced robot control schemes to effective force-reflecting telerobotic systems. This application best exploits the presence of the human operator while making full use of available robot control technology and computing power. A physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays. The notion of wave variable is utilized to characterize time-delay systems and leads to a configuration for force-reflecting teleoperation. The effectiveness of the approach is demonstrated experimentally. Within the same framework, an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform, or enhance the remote dynamics perceived by the operator.>
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Force-reflection and shared compliant control in operating telemanipulators with time delay
Kim, W. S., Hannaford, B., & Fejczy, A. K. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.134272 · Cited by 361
Towards force-reflecting teleoperation over the Internet
Niemeyer, G., & Slotine, J.-J. E. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.680592 · Cited by 355
Self-citationToward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Position Tracking for Non-linear Teleoperators with Variable Time Delay
Nuño, E., Basañez, L., Ortega, R., & Spong, M. W. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908099461 · Cited by 242
Cutaneous force feedback as a sensory subtraction technique in haptics
Prattichizzo, D., Pacchierotti, C., & Rosati, G. (2012) · IEEE Transactions on Haptics · doi:10.1109/toh.2012.15 · Cited by 172
Metadata
- Authors
- Niemeyer, G., & Slotine, J.-J. E.
- Venue
- IEEE Journal of Oceanic Engineering
- Published
- 1991-01
- Volume
- 16
- Issue
- 1
- Pages
- 152-162
- ISSN
- 0364-9059 (ISSN-L)
- OpenAlex
- W2124237013
- Cited by
- 1,407
- References
- 1
- FWCI
- 33.38
- Type
- journal article
- Language
- en
- Open access
- closed
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- Niemeyer, G., & Slotine, J.-J. E. (1991). Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering. https://doi.org/10.1109/48.64895
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
