Mostrar el registro sencillo del ítem

dc.contributor.author
Penizzotto Bacha, Franco Victor
dc.contributor.author
Slawiñski, Emanuel
dc.contributor.author
Salinas, Lucio Rafael
dc.contributor.author
Mut, Vicente Antonio
dc.date.available
2016-07-22T18:49:01Z
dc.date.issued
2015-05
dc.identifier.citation
Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio; Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots; Taylor & Francis; Advanced Robotics; 29; 19; 5-2015; 1253-1268
dc.identifier.issn
0169-1864
dc.identifier.uri
http://hdl.handle.net/11336/6645
dc.description.abstract
Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s commands execution in order to achieve a high performance teleoperation system in some important aspects like time to complete the task, safety and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop (HITL) simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user tele-operates a mobile robot via Internet connection between Argentina and Italy.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Taylor & Francis
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/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
Mobile Robot
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
Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2016-07-22T13:44:59Z
dc.journal.volume
29
dc.journal.number
19
dc.journal.pagination
1253-1268
dc.journal.pais
Reino Unido
dc.journal.ciudad
Londres
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: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Salinas, Lucio Rafael. 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
Advanced Robotics
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1052011?journalCode=tadr20
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1080/01691864.2015.1052011
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/10.1080/01691864.2015.1052011


Archivos asociados

Documento no disponible

Comunidades y colecciones

Mostrar el registro sencillo del ítem