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.

Quantitative Absolute Transparency for Bilateral Teleoperation of Mobile Robots

FIORINI, Paolo;
2012-01-01

Abstract

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.
2012
robotics; teleoperation; quality measure
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/368225
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 41
  • ???jsp.display-item.citation.isi??? 32
social impact