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dc.contributor.author
Penizzotto Bacha, Franco Victor  
dc.contributor.author
García, Sebastián Ernesto  
dc.contributor.author
Slawiñski, Emanuel  
dc.contributor.author
Mut, Vicente Antonio  
dc.date.available
2016-03-22T17:25:47Z  
dc.date.issued
2015-03  
dc.identifier.citation
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  
dc.identifier.issn
1024-123X  
dc.identifier.uri
http://hdl.handle.net/11336/4896  
dc.description.abstract
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.  
dc.format
application/pdf  
dc.language.iso
eng  
dc.publisher
Hindawi Publishing Corporation  
dc.rights
info:eu-repo/semantics/openAccess  
dc.rights.uri
https://creativecommons.org/licenses/by/2.5/ar/  
dc.subject
Human-Robot Interaction  
dc.subject
Command Performance  
dc.subject
Bilateral Teleoperation  
dc.subject
Force Feedback  
dc.subject
Time Delay  
dc.subject.classification
Control Automático y Robótica  
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información  
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS  
dc.title
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric  
dc.type
info:eu-repo/semantics/article  
dc.type
info:ar-repo/semantics/artículo  
dc.type
info:eu-repo/semantics/publishedVersion  
dc.date.updated
2016-03-30 10:35:44.97925-03  
dc.identifier.eissn
1563-5147  
dc.journal.volume
2015  
dc.journal.pagination
1-13  
dc.journal.pais
Estados Unidos  
dc.journal.ciudad
New York  
dc.description.fil
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina  
dc.description.fil
Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina  
dc.description.fil
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina  
dc.description.fil
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina  
dc.journal.title
Mathematical Problems In Engineering  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/460476  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1155/2015/460476  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/460476/  

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