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Stability and transparency in bilateral teleoperation
Abstract
Tools for quantifying teleoperation system performance and stability when communication delays are present are provided. A general multivariable system architecture is utilized which includes all four-types of data transmission between master and slave: force and velocity in both directions. It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator. It is also shown that transparency and robust stability (passivity) are conflicting design goals in teleoperation systems. The analysis is illustrated by comparing transparency and stability in two common architectures, as well as a recent passivated approach and a new transparency-optimized architecture, using simplified one-degree-of-freedom examples.>
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Cited by
She, C., Sun, C., Gu, Z., Li, Y., Yang, C., Poor, H. V., & Vucetic, B. (2021) · Proceedings of the IEEE · doi:10.1109/jproc.2021.3053601 · Cited by 405
Hashtrudi-Zaad, K., & Salcudean, S. E. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988981 · Cited by 373
Toward 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
Steinbach, E., Hirche, S., Ernst, M., Brandi, F., Chaudhari, R., Kammerl, J., & Vittorias, I. (2012) · Proceedings of the IEEE · doi:10.1109/jproc.2011.2182100 · Cited by 198
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
- Lawrence, D. A.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1993
- Volume
- 9
- Issue
- 5
- Pages
- 624-637
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2135464393
- Cited by
- 2,061
- References
- 0
- FWCI
- 5.51
- Type
- journal article
- Language
- en
- Open access
- closed
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- Lawrence, D. A. (1993). Stability and transparency in bilateral teleoperation. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.258054
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