Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

Autores
Slawiñski, Emanuel; Mut, Vicente Antonio; Fiorini, Paolo; Salinas, Lucio Rafael
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Fiorini, Paolo. Universita di Verona; Italia
Fil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
HUMAN-ROBOT INTERACTION
MOBILE ROBOT
TELEOPERATION
TIME-VARYING DELAY
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/194738
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/194738
network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile RobotsSlawiñski, EmanuelMut, Vicente AntonioFiorini, PaoloSalinas, Lucio RafaelHUMAN-ROBOT INTERACTIONMOBILE ROBOTTELEOPERATIONTIME-VARYING DELAYhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Fiorini, Paolo. Universita di Verona; ItaliaFil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInstitute of Electrical and Electronics Engineers2012-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/194738Slawiñski, Emanuel; Mut, Vicente Antonio; Fiorini, Paolo; Salinas, Lucio Rafael; Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots; Institute of Electrical and Electronics Engineers; Ieee Transactions On Systems Man And Cybernetics Part A-systems And Humans; 42; 2; 3-2012; 430-4421083-4427CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1109/TSMCA.2011.2159588info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:06:52Zoai:ri.conicet.gov.ar:11336/194738instacron: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:34982025-09-10 13:06:52.443CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
title Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
spellingShingle Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
Slawiñski, Emanuel
HUMAN-ROBOT INTERACTION
MOBILE ROBOT
TELEOPERATION
TIME-VARYING DELAY
title_short Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
title_full Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
title_fullStr Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
title_full_unstemmed Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
title_sort Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots
dc.creator.none.fl_str_mv Slawiñski, Emanuel
Mut, Vicente Antonio
Fiorini, Paolo
Salinas, Lucio Rafael
author Slawiñski, Emanuel
author_facet Slawiñski, Emanuel
Mut, Vicente Antonio
Fiorini, Paolo
Salinas, Lucio Rafael
author_role author
author2 Mut, Vicente Antonio
Fiorini, Paolo
Salinas, Lucio Rafael
author2_role author
author
author
dc.subject.none.fl_str_mv HUMAN-ROBOT INTERACTION
MOBILE ROBOT
TELEOPERATION
TIME-VARYING DELAY
topic HUMAN-ROBOT INTERACTION
MOBILE ROBOT
TELEOPERATION
TIME-VARYING 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 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.
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Fiorini, Paolo. Universita di Verona; Italia
Fil: Salinas, Lucio Rafael. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description 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.
publishDate 2012
dc.date.none.fl_str_mv 2012-03
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/11336/194738
Slawiñski, Emanuel; Mut, Vicente Antonio; Fiorini, Paolo; Salinas, Lucio Rafael; Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots; Institute of Electrical and Electronics Engineers; Ieee Transactions On Systems Man And Cybernetics Part A-systems And Humans; 42; 2; 3-2012; 430-442
1083-4427
CONICET Digital
CONICET
url http://hdl.handle.net/11336/194738
identifier_str_mv Slawiñski, Emanuel; Mut, Vicente Antonio; Fiorini, Paolo; Salinas, Lucio Rafael; Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots; Institute of Electrical and Electronics Engineers; Ieee Transactions On Systems Man And Cybernetics Part A-systems And Humans; 42; 2; 3-2012; 430-442
1083-4427
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/TSMCA.2011.2159588
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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
_version_ 1842980295451607040
score 12.993085

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