Title :
Supervisory model-mediated teleoperation for multiple-master/multiple-slave system
Author :
Gromov, Boris ; Jee-Hwan Ryu
Author_Institution :
BioRobotics Lab., Korea Univ. of Technol. & Educ., Cheonan, South Korea
Abstract :
This work considers control decomposition problems in multiple-master/multiple-slave (MMMS) systems. The MMMS systems are famous for increased dexterity and higher payload capabilities comparing to conventional systems. Owing to availability of multiple operators it is possible to solve complex tasks that require distributed environment sensing and/or involve additional cognitive load. We also briefly discuss the problem of communication delay and general approach we going to follow to rectify it.
Keywords :
telerobotics; MMMS; cognitive load; communication delay; distributed environment; multiple-master/multiple-slave systems; payload capabilities; supervisory model mediated teleoperation; Ambient intelligence; Conferences; Delay; Force feedback; Kinematics; Robot sensing systems; Control decomposition; model-mediated teleoperation; supervisory control; virtual slave;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462945
