Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

Author

Slawiñski, Emanuel ; Mut, Vicente A. ; Fiorini, Paolo ; Salinas, Lucio R.

Author_Institution

Inst. de Autom., Nat. Univ. of San Juan, San Juan, Argentina

Volume

42

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

430

Lastpage

442

Abstract

This paper proposes a new criterion, called absolute transparency, to design control schemes applied to bilateral teleoperation of mobile robots with time-varying delay. The absolute transparency measures how and how fast the human operator and the remote system interact with each other through a teleoperation system. The absolute transparency of different control schemes is analyzed and tested through teleoperation experiments where a human operator drives a mobile robot and receives both visual and force feedback.

Keywords

control system synthesis; delays; force feedback; mobile robots; telerobotics; time-varying systems; bilateral teleoperation; control scheme design; force feedback; human operator; mobile robots; quantitative absolute transparency; time varying delay; visual feedback; Communication channels; Delay; Delay effects; Humans; Mobile robots; Torque; Human–Robot Interaction; mobile robot; teleoperation; time-varying delay;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on

Publisher

ieee

ISSN

1083-4427

Type

jour

DOI

10.1109/TSMCA.2011.2159588

Filename

5941031