Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric
- Autores
- Penizzotto Bacha, Franco Victor; García, Sebastián Ernesto; Slawiñski, Emanuel; Mut, Vicente Antonio
- Año de publicación
- 2015
- Idioma
- inglés
- Tipo de recurso
- artículo
- Estado
- versión publicada
- Descripción
- 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.
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina - Materia
-
Human-robot Interaction
Command Performance
Bilateral Teleoperation
Force feedback
Time delay - Nivel de accesibilidad
- acceso abierto
- Condiciones de uso
- https://creativecommons.org/licenses/by/2.5/ar/
- Repositorio
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/4896
Ver los metadatos del registro completo
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Delayed Bilateral Teleoperation of Wheeled Robots including a Command MetricPenizzotto Bacha, Franco VictorGarcía, Sebastián ErnestoSlawiñski, EmanuelMut, Vicente AntonioHuman-robot InteractionCommand PerformanceBilateral TeleoperationForce feedbackTime delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaHindawi Publishing Corporation2015-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/zipapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/4896Penizzotto 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; 1-131024-123X1563-5147enginfo:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/460476/info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/460476info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:10:46Zoai:ri.conicet.gov.ar:11336/4896instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:10:46.282CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse |
dc.title.none.fl_str_mv |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
title |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
spellingShingle |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric Penizzotto Bacha, Franco Victor Human-robot Interaction Command Performance Bilateral Teleoperation Force feedback Time delay |
title_short |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
title_full |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
title_fullStr |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
title_full_unstemmed |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
title_sort |
Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric |
dc.creator.none.fl_str_mv |
Penizzotto Bacha, Franco Victor García, Sebastián Ernesto Slawiñski, Emanuel Mut, Vicente Antonio |
author |
Penizzotto Bacha, Franco Victor |
author_facet |
Penizzotto Bacha, Franco Victor García, Sebastián Ernesto Slawiñski, Emanuel Mut, Vicente Antonio |
author_role |
author |
author2 |
García, Sebastián Ernesto Slawiñski, Emanuel Mut, Vicente Antonio |
author2_role |
author author author |
dc.subject.none.fl_str_mv |
Human-robot Interaction Command Performance Bilateral Teleoperation Force feedback Time delay |
topic |
Human-robot Interaction Command Performance Bilateral Teleoperation Force feedback Time delay |
purl_subject.fl_str_mv |
https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
dc.description.none.fl_txt_mv |
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. Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina Fil: García, Sebastián Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina |
description |
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. |
publishDate |
2015 |
dc.date.none.fl_str_mv |
2015-03 |
dc.type.none.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 info:ar-repo/semantics/articulo |
format |
article |
status_str |
publishedVersion |
dc.identifier.none.fl_str_mv |
http://hdl.handle.net/11336/4896 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 1024-123X 1563-5147 |
url |
http://hdl.handle.net/11336/4896 |
identifier_str_mv |
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 1024-123X 1563-5147 |
dc.language.none.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
info:eu-repo/semantics/altIdentifier/doi/ info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/460476/ info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/460476 |
dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by/2.5/ar/ |
eu_rights_str_mv |
openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by/2.5/ar/ |
dc.format.none.fl_str_mv |
application/pdf application/pdf application/pdf application/zip application/pdf application/pdf application/pdf |
dc.publisher.none.fl_str_mv |
Hindawi Publishing Corporation |
publisher.none.fl_str_mv |
Hindawi Publishing Corporation |
dc.source.none.fl_str_mv |
reponame:CONICET Digital (CONICET) instname:Consejo Nacional de Investigaciones Científicas y Técnicas |
reponame_str |
CONICET Digital (CONICET) |
collection |
CONICET Digital (CONICET) |
instname_str |
Consejo Nacional de Investigaciones Científicas y Técnicas |
repository.name.fl_str_mv |
CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas |
repository.mail.fl_str_mv |
dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar |
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1844613999683960832 |
score |
13.070432 |