Artículo

Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

Slawiñski, EmanuelIcon ; Mut, Vicente AntonioIcon ; Fiorini, Paolo; Salinas, Lucio RafaelIcon
Fecha de publicación: 03/2012
Editorial: Institute of Electrical and Electronics Engineers
Revista: Ieee Transactions On Systems Man And Cybernetics Part A-systems And Humans
ISSN: 1083-4427
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:

Resumen

This paper proposes a new criterion, called absolute transparency, to design control schemes applied to bilateral teleoperation of mobile robots with time-varying delay. The absolute transparency measures how and how fast the human operator and the remote system interact with each other through a teleoperation system. The absolute transparency of different control schemes is analyzed and tested through teleoperation experiments where a human operator drives a mobile robot and receives both visual and force feedback.
Palabras clave: HUMAN-ROBOT INTERACTION , MOBILE ROBOT , TELEOPERATION , TIME-VARYING DELAY
 
Archivos asociados
Thumbnail
 
Tamaño: 2.498Mb
Formato: PDF
.
Licencia
info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/194738
DOI: http://dx.doi.org/10.1109/TSMCA.2011.2159588
Colecciones
Articulos(SEDE CENTRAL)
Articulos de SEDE CENTRAL
Citación
Slawiñski, Emanuel; Mut, Vicente Antonio; Fiorini, Paolo; Salinas, Lucio Rafael; Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots; Institute of Electrical and Electronics Engineers; Ieee Transactions On Systems Man And Cybernetics Part A-systems And Humans; 42; 2; 3-2012; 430-442
Compartir
Altmétricas