Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator`s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well...

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Detalles Bibliográficos
Autores: Penizzotto Bacha, Franco Victor, García, Sebastián Ernesto, Slawiñski, Emanuel, Mut, Vicente Antonio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2015
País:Argentina
Institución:Consejo Nacional de Investigaciones Científicas y Técnicas
Repositorio:CONICET Digital (CONICET)
Idioma:inglés
OAI Identifier:oai:ri.conicet.gov.ar:11336/4896
Acceso en línea:http://hdl.handle.net/11336/4896
Access Level:acceso abierto
Palabra clave:Human-robot Interaction
Command Performance
Bilateral Teleoperation
Force feedback
Time delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
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spelling Delayed Bilateral Teleoperation of Wheeled Robots including a Command MetricPenizzotto Bacha, Franco VictorGarcía, Sebastián ErnestoSlawiñski, EmanuelMut, Vicente AntonioHuman-robot InteractionCommand PerformanceBilateral TeleoperationForce feedbackTime delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator`s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaHindawi Publishing Corporation2015-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/zipapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/4896Penizzotto Bacha, Franco Victor; García, Sebastián Ernesto; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 3-2015; 1-131024-123X1563-5147enginfo:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/460476/info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/460476info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2024-05-08T14:01:42Zoai:ri.conicet.gov.ar:11336/4896instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982024-05-08 14:01:42.616CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
title Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
spellingShingle Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
Penizzotto Bacha, Franco Victor
Human-robot Interaction
Command Performance
Bilateral Teleoperation
Force feedback
Time delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
title_short Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
title_full Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
title_fullStr Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
title_full_unstemmed Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
title_sort Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
dc.creator.none.fl_str_mv Penizzotto Bacha, Franco Victor
García, Sebastián Ernesto
Slawiñski, Emanuel
Mut, Vicente Antonio
author Penizzotto Bacha, Franco Victor
author_facet Penizzotto Bacha, Franco Victor
García, Sebastián Ernesto
Slawiñski, Emanuel
Mut, Vicente Antonio
author_role author
author2 García, Sebastián Ernesto
Slawiñski, Emanuel
Mut, Vicente Antonio
author2_role author
author
author
dc.subject.none.fl_str_mv Human-robot Interaction
Command Performance
Bilateral Teleoperation
Force feedback
Time delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
topic Human-robot Interaction
Command Performance
Bilateral Teleoperation
Force feedback
Time delay
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
description This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator`s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.
publishDate 2015
dc.date.none.fl_str_mv 2015-03
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/4896
Penizzotto Bacha, Franco Victor; García, Sebastián Ernesto; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 3-2015; 1-13
1024-123X
1563-5147
url http://hdl.handle.net/11336/4896
identifier_str_mv Penizzotto Bacha, Franco Victor; García, Sebastián Ernesto; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 3-2015; 1-13
1024-123X
1563-5147
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/460476/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/460476
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/zip
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 15,811543

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