Title :
Significance of Causality Analysis for Transparent Teleoperation
Author :
Park, Hyung-Soon ; Chang, Pyung Hun ; Kim, Jong Hyun
Author_Institution :
Sensory Motor Performance Program Rehabilitation Institute of Chicago 345 E. Superior St., Chicago, IL 60611, USA; h-park4@northwestern.edu
Abstract :
This paper presents significance of causality analysis in attaining transparency of bilateral teleoperation. The causality analysis enabled novel understanding of teleoperation systems, thereby providing methods for finding transparency-attainable control architectures with proper control parameters. Furthermore, when combined with the causality-based stability, stability could still be guaranteed while attaining transparency. Experimental verification is given for simple 1-DOF teleoperation tasks.
Keywords :
Bilateral Teleoperation; Causality; Control Architecture; Transparency; Analytical models; Bonding; Control systems; Force feedback; Haptic interfaces; Humans; Master-slave; Mechanical engineering; Performance analysis; Stability analysis; Bilateral Teleoperation; Causality; Control Architecture; Transparency;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570199
