DocumentCode
399481
Title
Delayed virtual environments: a port-Hamiltonian approach
Author
Secchi, C. ; Stramigioli, S. ; Fantuzzi, C.
Author_Institution
DISMI, Modena Univ., Reggio Emilia, Italy
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2956
Abstract
In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.
Keywords
delays; discrete systems; haptic interfaces; passive networks; virtual reality; delay; delayed virtual environments; discrete passive port-Hamiltonian systems; discretization algorithm; haptics; passivity; scattering theory; Delay; Displays; Employee welfare; Frequency; Haptic interfaces; Human robot interaction; Production; Sampling methods; Scattering; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249320
Filename
1249320
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