DocumentCode
3176875
Title
Advanced Teleoperation Architecture
Author
Galvan, S. ; Castellani, A. ; Botturi, D. ; Fiorini, P.
Author_Institution
Dept. of Comput. Sci., Verona Univ.
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
1680
Lastpage
1685
Abstract
In this paper we report on the efforts carried out at the Robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. This architecture, called Penelope, takes into account the main features of a haptics system: real-time behavior, distributed resources, general purpose structure and safe exchange of data. The emphasis here is on heterogeneous hardware and software within the same structure
Keywords
control engineering computing; force feedback; haptic interfaces; manipulators; telerobotics; NASA-JPL Force Reflecting Hand Controllers; PUMA 200; PUMA 560; Penelope; bilateral teleoperation system; distributed resources; distributed software architecture; force feedback; general purpose structure; haptics system; real-time behavior; safe data exchange; Computer architecture; Force control; Force sensors; Hardware; Intelligent robots; Laboratories; Linux; Middleware; Software architecture; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0258-1
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.282124
Filename
4058617
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