• DocumentCode
    812207
  • Title

    Transparency in Port-Hamiltonian-Based Telemanipulation

  • Author

    Secchi, Cristian ; Stramigioli, Stefano ; Fantuzzi, Cesare

  • Author_Institution
    Dipt. di Sci. e Metodi dell´´Ing., Univ. of Modena & Reggio Emilia, Modena
  • Volume
    24
  • Issue
    4
  • fYear
    2008
  • Firstpage
    903
  • Lastpage
    910
  • Abstract
    After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.
  • Keywords
    manipulators; packet switching; telerobotics; communication channels; packet switching; port-Hamiltonian-based telemanipulation; port-Hamiltonian-based teleoperators; telemanipulation system; Port-Hamiltonian systems; telemanipulation; transparency;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2008.924941
  • Filename
    4570441
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=812207