Haptic tele-driving of a wheeled mobile robot over the Internet: A PSPM approach

Zuo, Zhiyuan; Lee, Dongjun

doi:10.1109/cdc.2010.5718143

Cited by 13 publications

(5 citation statements)

References 20 publications

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“…Consider a passive teleoperation system framework for mobile robots (Lee et al [2006], Stramigioli et al [2010], Zuo and Lee [2010]), the user input energy is used to drive the slave system and stored in the slave system as kinetic energy or dissipated through damping injection or environmental port. In this section, we introduce the potential energy into the passive system framework as part of the slave system properties, the same as the kinetic energy.…”

Section: Energy Based Obstacle Avoidancementioning

confidence: 99%

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Energy Based Set Point Modulation for Obstacle Avoidance In Haptic Teleoperation of Aerial Robots

Hou

Feng

et al. 2014

IFAC Proceedings Volumes

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Section: Energy Based Obstacle Avoidancementioning

confidence: 99%

“…Given the human operator is passive, both master joystick and slave robot are passive, the stable passive teleoperation system framework for mobile robots as in Zuo and Lee [2010] or Lee et al [2006] can be achieved in the sense that: ∀T ,…”

Section: System Passivitymentioning

confidence: 99%

Energy Based Set Point Modulation for Obstacle Avoidance In Haptic Teleoperation of Aerial Robots

Hou

Feng

et al. 2014

IFAC Proceedings Volumes

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“…The large (effectively infinite) workspace of a mobile robot, however, precludes the standard position-to-position (P2P) forward mapping between master and slave used in manipulator teleoperation. A position-tovelocity (P2V) mapping is widely used and is well adopted to achieve unlimited workspace for the slave robots [26], [21], [12], although such an approach naturally leads to less precise position control. In [6], a hybrid approach is proposed that switches between P2P and P2V mapping depending on the robot's distance to the obstacles and master joystick's speed.…”

Section: Introductionmentioning

confidence: 99%

“…Passivity analysis provides a powerful framework to analyze robustness and stability of bilateral force feedback teleoperation systems [15], [22], [26]. An energetically consistent model of bilateral force feedback also makes interconnection of multiple input devices straightforward [8], [24], [14].…”

Section: Introductionmentioning

confidence: 99%

An intuitive multimodal haptic interface for teleoperation of aerial robots

Hou

Mahony

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a novel intuitive multi-modal force feedback interface for teleoperation of mobile robotic vehicles. Two different force feedback interfaces are considered: a force feedback joystick and a novel force feedback trackball. The joystick considered is based on the admittance user interface developed by the authors in earlier work and is configured to servo velocity of the vehicle. The force feedback trackball is configured to map vehicle velocity directly to trackball velocity, exploiting the effectively infinite workspace of the trackball to overcome the classical challenge of servo controlling a slave with infinite workspace using a master device with finite workspace.A key contribution of the paper is to provide a modeling framework, based on the bond graph formalism, that allows the energy consistent modeling of input from an admittance joystick as reference to an internal velocity regulation loop for the vehicle. Once this is implemented it is straightforward to interconnect multiple input devices, and in particular the trackball device, using standard interconnection rules in bond graphs. Experiments were performed, and the outcomes verify the feasibility and effectiveness of the proposed interface.

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“…In [177], the TDPN or TDPA approach respectively has been applied to the communication in different control structures. The passive setposition modulation PSPM framework (a time tomain control concept) was extended in [188] to match the tele-driving of WMRs.…”

Section: Model-mediated Teleoperation For Rate Control Setupsmentioning

confidence: 99%

Passivity-based multilateral control for delayed teleoperation

Panzirsch¹

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First of all, I would like to express my deep gratitude to my research supervisors, Professor Manuel Ferre and Jordi Artigas, for their patient guidance, enthusiastic encouragement and useful critiques of this thesis. Thanks to the unconditional support of Rosa Mará Ortiz, the accomplishment of an international dissertation was a trouble-free experience. I would like to express my great appreciation and deep respect to Professor Gerd Hirzinger and Professor Alin Albu-Schäffer for the establishment and direction of the Robotics and Mechatronics Center that provides extraordinary opportunities in terms of hardware and individual development to its scientists. Furthermore, I would like to thank Professor Jee-Hwan Ryu most sincerely for our profound discussions on passivity and time domain control in particular. Also, I would like to offer my special thanks to my colleagues at the Robotics and Mechatronics Center and the telepresence laboratory especially. My grateful thanks are directed at Christian Ott, Ribin Balanchandran, Thomas Hulin and Philipp Kremer that inspired me with discussions and advices in control theory and rendered essential assistance at the maintenance of the robot hardware. Not least, I am especially grateful for the assistance given by Bernhard Weber in the statistical analysis of this research. I wish to thank my parents and sisters for their support and encouragement throughout my educational career. My sincere thanks go to my wife Maria and my children for bringing joy in my life that supported me spiritually throughout this work. Children open up our minds and forgotten perspectives that enrich our life and often reveal alternative paths. The deepest inspiration was conveyed by my uncle who was the prototype of an educated person and a role model to me. To him I dedicate this thesis.

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Haptic tele-driving of a wheeled mobile robot over the Internet: A PSPM approach

Cited by 13 publications

References 20 publications

Energy Based Set Point Modulation for Obstacle Avoidance In Haptic Teleoperation of Aerial Robots

Energy Based Set Point Modulation for Obstacle Avoidance In Haptic Teleoperation of Aerial Robots

An intuitive multimodal haptic interface for teleoperation of aerial robots

Passivity-based multilateral control for delayed teleoperation

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