Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

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 te...

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Bibliographic Details
Published in:IEEE transactions on systems, man and cybernetics. Part A, Systems and humans man and cybernetics. Part A, Systems and humans, 2012-03, Vol.42 (2), p.430-442
Main Authors: Slawinski, E., Mut, V. A., Fiorini, P., Salinas, L. R.
Format: Article
Language:English
Subjects:
Communication channels
Control systems
Cybernetics
Delay
Delay effects
Design engineering
Human
Human-Robot Interaction
Humans
mobile robot
Mobile robots
Operators
Robots
teleoperation
time-varying delay
Torque
Visual
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Summary: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.
ISSN:1083-4427
2168-2216
1558-2426
2168-2232
DOI:10.1109/TSMCA.2011.2159588