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ICRA
2005
IEEE

Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application

9 years 5 months ago
Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application
Abstract— In a companion paper [1], we propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots over delayed communication network. In this paper, we perform simulation and semi-experiment (i.e. real master and simulated slaves) to illustrate and validate properties of the proposed control scheme. In particular, the three key properties of the proposed control framework are highlighted in this paper: 1) cooperative fixtureless grasping and manipulation of inertial and deformable objects by multiple slave robots; 2) passive teleoperation of the overall behavior of the multiple slave robots (and the grasped object) over the delayed communication with force reflection; and 3) grasping safety (i.e. secure grasping) and interaction stability regardless of the communication delay and human command.
Dongjun Lee, Oscar Martinez-Palafox, Mark W. Spong
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Dongjun Lee, Oscar Martinez-Palafox, Mark W. Spong
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