ICRA 2011 Paper Abstract


Paper TuA205.4

Polushin, Ilia G. (The University of Western Ontario), Takhmar, Amir (University of Western Ontario), Patel, Rajni (The University of Western Ontario)

Small-Gain Design of Networked Cooperative Bilateral Teleoperators

Scheduled for presentation during the Regular Sessions "Teleoperation I" (TuA205), Tuesday, May 10, 2011, 10:50−11:05, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Teleoperation, Haptics and Haptic Interfaces, Cooperative Manipulators


For cooperative force-reflecting teleoperation over networks, conventional passivity-based approaches are not always applicable due to possibility of nonpassive slave-slave interactions and irregular communication delays imposed by networks. In this work, we propose a design approach that is based on an advanced version of the small-gain theorem developed previously for complex network-based interconnections. It is shown that, using the proposed design approach, a networked cooperative force-reflecting teleoperator system can be made stable in the presence of irregular communications by adjusting the local control gains appropriately. Experimental results are presented that confirm the validity of the proposed approach.



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