Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet

Ke, Huang; Lee, Dongjun

doi:10.1109/tro.2012.2229672

Cited by 28 publications

(18 citation statements)

References 31 publications

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“…6) and why the scaled-up inertia (i.e., η > 1) still enforces passivity even if the human/virtual force feedforward actions are present in (14)- (15) with their effect getting more intensified as η increases from η = 1 to η → ∞. This theoretical passivity analysis and the experimental observations in Fig.…”

Section: Experimental Verificationmentioning

confidence: 52%

“…Although widely used in haptic applications (e.g., voxmap-pointsheel methods, 10,11 haptic rendering with constraints, [3][4][5] dynamic virtual proxy with inertia, 8,9,12,13 multiuser haptics 14,15 ), this standard virtual coupling is lacking to provide transparency * , since: (1) the force feedback via the spring-damper connection necessitates device-proxy coordination error; and (2) the device and the proxy inertias are left unmodified, acting as a "masking" intermediate impedance between the human user and the virtual environment. See Fig.…”

Section: Introductionmentioning

confidence: 99%

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Improving transparency of virtual coupling for haptic interaction with human force observer

Kim

Lee

2015

Robotica

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SUMMARYRelying solely on virtual springs and dampers, the transparency of standard virtual coupling suffers from the device-proxy coordination error when a large interaction force is engaged (e.g., contact tasks) and also from the unmodifiable inertias of the haptic device and the virtual proxy. To overcome these limitations, we propose a novel virtual coupling scheme, which, utilizing passive decomposition and a human force observer, can maintain the device-proxy coordination error even during contact tasks, while also allowing for scaling down (or up) the apparent inertia of the coordinated device-proxy system, thereby, substantially improving transparency of the standard virtual coupling. Experiments are performed to show the performance and passivity of the proposed virtual coupling. Minimum-possible passive inertia scaling is also theoretically established via some positive-real analysis.

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Section: Experimental Verificationmentioning

confidence: 52%

Section: Introductionmentioning

confidence: 99%

Improving transparency of virtual coupling for haptic interaction with human force observer

Kim

Lee

2015

Robotica

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“…If the conventional four-channel-based controllers are selected as in equations (18) to (20), these gains are functions of frequency o, the controller parameters, the impedance parameters and are independent of delay. For the sake of simplicity, we will assume that C2 i ¼ C f is chosen as 1 and then the gains become…”

Section: Controller Design For Multilateral Teleoperation Systems Witmentioning

confidence: 99%

“…For instance, an analytic method for checking the stability of multilateral teleoperation systems have been provided in studies of Mendez 18 and Shahbazi 19 by using n-port passivity. Following these papers, Huang and Lee, 20 Kanno and Yokokohji 21 and Van Quang and Ryu 22 have used passivity to guarantee stability of multilateral teleoperation systems. Huang and Lee 20 have proposed a consensus-based algorithm which does not make use of force channels and can provide force reflection only in steady state, which is not desirable in terms of performance.…”

Section: Introductionmentioning

confidence: 99%

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Tümerdem

2017

International Journal of Advanced Robotic Systems

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Multilateral teleoperation is the general name given to haptic teleoperation with multiple robots and operators. It is the generalization of two robot bilateral teleoperation systems to N robots. One of the applications of multilateral teleoperation is haptic training, where multiple operators can move multiple master robots, and in consensus, they can control a single slave robot. This enables the operators to influence each other's motion with their force inputs and a more experienced operator can instruct/train a novice operator for teleoperation. In multilateral systems, existence of multiple robots and multiple communication channels between robots poses difficulties in the analysis of stability and control design. Because of the distributed nature of the problem, and especially in the presence of time delays in the communication links between robots, stability of the networked system becomes harder to guarantee. This article presents a method for checking the L 2 stability of multilateral teleoperation systems with N robots and symmetric or asymmetric time delays between them. Following this, a scalable four-channel-based distributed control law is proposed under the light of the proposed stability criterion which can guarantee delay-independent stability and enable highperformance haptic teleoperation. Furthermore, robust stability of the proposed control architecture is shown using analysis. Finally, theoretical results are validated with experiments that include comparisons of the proposed method with two-channel-based passive and absolutely stable systems.

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“…This concept is especially promising for SHVEs, as high-rate information exchange is needed only between haptically collaborating users. Note that haptic interaction with deformable objects is a challenging research area itself [5] and, thus, we focus on rigid objects in this work.…”

Section: Introductionmentioning

confidence: 99%

An area-of-interest based communication architecture for Shared Haptic Virtual Environments

Schuwerk

Chaudhari

Steinbach

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

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Abstract-Communication architectures conceived for SharedHaptic Virtual Environments (SHVEs) are based on either the client-server or the peer-to-peer paradigms. High-rate rendering and communication between collaborating users quickly leads to performance bottlenecks, if the virtual environment's size and complexity or the number of collaborating users increases. We propose a decentralized communication architecture for SHVEs, which exploits areas of interest (AoI) of a user to dynamically form smaller communication groups. High-rate information exchange following the client-server paradigm is used within these groups to support satisfactory haptic collaboration and consistency. A single group member is selected to simulate the object states and to relay this state to the other group members. Peerto-peer inter-group communication is also used, based on spatial proximity, to further reduce the overall communication load. We implemented a prototype based on our proposed architecture and present some first evaluation results. They serve as a proof-ofconcept and show the effectiveness of dynamic group maintenance in conjunction with additional traffic control schemes.

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Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet

Cited by 28 publications

References 31 publications

Improving transparency of virtual coupling for haptic interaction with human force observer

Improving transparency of virtual coupling for haptic interaction with human force observer

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

An area-of-interest based communication architecture for Shared Haptic Virtual Environments

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Consensus-Based Peer-to-Peer Control Architecture for Multiuser Haptic Interaction Over the Internet

Cited by 28 publications

References 31 publications

Improving transparency of virtual coupling for haptic interaction with human force observer

Improving transparency of virtual coupling for haptic interaction with human force observer

Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

An area-of-interest based communication architecture for Shared Haptic Virtual Environments

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Product

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Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness