A passive bilateral control scheme for a teleoperator with time-varying communication delay

Ryu, Jee-Hwan; Artigas, Jordi; Preusche, Carsten

doi:10.1016/j.mechatronics.2010.07.006

Cited by 194 publications

(160 citation statements)

References 25 publications

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“…In future work, we will investigate the effects of visual-haptic asynchrony on the task completion and improve the system based on user experiences. Implementation of the time delay compensation architecture in [2] will be an essential extension to perform user experience and task performance experiments in the presence of time delay. Currently, the multiplexer is not resilient to packet losses.…”

Section: Discussionmentioning

confidence: 99%

“…Additionally, jitter distorts the force signal which may lead to misperception of the remote environment. To avoid this, a jitter buffer can be employed to keep the end-to-end delay constant, or a passive control scheme [2] can be used to compensate time-varying communication delay. In the following, we propose a resource allocation solution to tackle the aforementioned delay-jitter problem for CBR channels.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Çizmeci

Chaudhari

et al. 2014

Haptics: Neuroscience, Devices, Modeling, and Applications

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Abstract. We propose a novel multiplexing scheme for teleoperation over constant bitrate (CBR) communication links. The proposed approach uniformly divides the channel into 1ms resource buckets and controls the size of the transmitted video packets as a function of the irregular haptic transmission events generated by a perceptual haptic data reduction approach. The performance of the proposed multiplexing scheme is measured objectively in terms of delay-jitter and packet rates. The results show that acceptable multiplexing delays on both the visual and haptic streams are achieved. Our evaluation shows that the proposed approach can provide a guaranteed constant delay for the time-critical force signal, while introducing acceptable video delay.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Çizmeci

Chaudhari

et al. 2014

Haptics: Neuroscience, Devices, Modeling, and Applications

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show abstract

“…From (30), only when the passivity of the master, the communication channels and the slave are simultaneously maintained, can the overall system's passivity be guaranteed. In this paper, the passivity of communication channels can be guaranteed by using the wave-based TDPA proposed by the authors in [20].…”

Section: Passivity Of the Overall Systemmentioning

confidence: 99%

“…Hannaford et al design an energy-based Time Domain Passivity Approach (TDPA) to adaptively dissipate energy [26]. [27] and [30] extend this method to deal with the time-varying delay issues. [31] and [19] add a virtual environment model to the energybased TDPA in order to achieve stable force perception under constant time delays.…”

Section: Introductionmentioning

confidence: 99%

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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Abstract-A novel approach applying the extended Prescribed Performance Control (PPC) and the wave-based Time Domain Passivity Approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

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“…As the energy flows are made explicit the formulation of Chapter 1 Ryu and Preusche (2007) is perfectly robust with respect to time-varying delays. It was recognized that the approach by Artigas et al (2006) and Ryu and Preusche (2007) conceptually serve the same purpose and merged into a single unified approach detailed in Ryu et al (2010). This approach has been applied in Artigas et al (2010a,b).…”

Section: • Coupled Impedance Controllersmentioning

confidence: 99%

Control of haptic interaction : an energy-based approach

Franken¹

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A passive bilateral control scheme for a teleoperator with time-varying communication delay

Cited by 194 publications

References 25 publications

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Control of haptic interaction : an energy-based approach

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