The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation
Abstract
This paper first investigates the issue of transparency in time-delayed teleoperation. It then studies the advantages of employing local force feedback for enhanced stability and performance. In addition, two classes of three-channel control architectures, that are perfectly transparent under ideal conditions are introduced. The stability robustness of the proposed architectures to delays is rigorously analyzed, leading to certain bounds on force feedforward control parameters. Experimental results are included in support of the theoretical work.
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Citations
Cites
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.24201 · Cited by 2,128
Stability and transparency in bilateral teleoperation
Lawrence, D. A. (1993) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.258054 · Cited by 2,061
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
A design framework for teleoperators with kinesthetic feedback
Hannaford, B. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88057 · Cited by 926
Robust control of dynamically interacting systems
COLGATE, J. E., & HOGAN, N. (1988) · International Journal of Control · doi:10.1080/00207178808906161 · Cited by 589
Bilateral controller for teleoperators with time delay via μ-synthesis
Leung, G. M. H., Francis, B. A., & Apkarian, J. (1995) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.345941 · Cited by 366
Hashtrudi-Zaad, K., & Salcudean, S. E. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067471 · Cited by 365
Self-citationForce-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
Controlling impedance at the man/machine interface
Hogan, N. (2003) · Proceedings, 1989 International Conference on Robotics and Automation · doi:10.1109/robot.1989.100210 · Cited by 334
Teleoperation controller design using H/sub ∞/-optimization with application to motion-scaling
Yan, J., & Salcudean, S. E. (1996) · IEEE Transactions on Control Systems Technology · doi:10.1109/87.491198 · Cited by 168
Self-citation
Cited by
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
Atashzar, S. F., Shahbazi, M., Tavakoli, M., & Patel, R. V. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364916689139 · Cited by 41
Javid, A., & Nekoui, M. A. (2019) · Cogent Engineering · doi:10.1080/23311916.2019.1631604 · Cited by 3
Metadata
- Authors
- Hashtrudi-Zaad, K., & Salcudean, S. E.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2002
- Volume
- 18
- Issue
- 1
- Pages
- 108-114
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2105853760
- Cited by
- 373
- References
- 10
- FWCI
- 31.52
- Type
- journal article
- Language
- en
- Open access
- closed
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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.
