Quantitative absolute transparency for bilateral teleoperation of mobile robots

Emanuel Slawiñski; Vicente A. Mut; Paolo Fiorini; Lucio R. Salinas

doi:10.1109/TSMCA.2011.2159588

Quantitative absolute transparency for bilateral teleoperation of mobile robots

Emanuel Slawiñski^*, Vicente A. Mut, Paolo Fiorini, Lucio R. Salinas

^*Corresponding author for this work

Research output: Contribution to journal › Article (Academic Journal) › peer-review

44 Citations (Scopus)

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.

Original language	English
Article number	5941031
Pages (from-to)	430-442
Number of pages	13
Journal	IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Volume	42
Issue number	2
DOIs	https://doi.org/10.1109/TSMCA.2011.2159588
Publication status	Published - 1 Mar 2012

Bibliographical note

Funding Information:
Manuscript received November 19, 2009; revised August 6, 2010; accepted February 22, 2011. Date of publication July 7, 2011; date of current version February 17, 2012. This work was supported in part by CONICET, Argentina. This paper was recommended by Associate Editor K. Hirota.

Keywords

Human-Robot Interaction
mobile robot
teleoperation
time-varying delay

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title = "Quantitative absolute transparency for bilateral teleoperation of mobile robots",

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.",

keywords = "Human-Robot Interaction, mobile robot, teleoperation, time-varying delay",

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note = "Funding Information: Manuscript received November 19, 2009; revised August 6, 2010; accepted February 22, 2011. Date of publication July 7, 2011; date of current version February 17, 2012. This work was supported in part by CONICET, Argentina. This paper was recommended by Associate Editor K. Hirota.",

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AU - Slawiñski, Emanuel

AU - Mut, Vicente A.

AU - Fiorini, Paolo

AU - Salinas, Lucio R.

N1 - Funding Information: Manuscript received November 19, 2009; revised August 6, 2010; accepted February 22, 2011. Date of publication July 7, 2011; date of current version February 17, 2012. This work was supported in part by CONICET, Argentina. This paper was recommended by Associate Editor K. Hirota.

PY - 2012/3/1

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N2 - 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.

AB - 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.

KW - Human-Robot Interaction

KW - mobile robot

KW - teleoperation

KW - time-varying delay

UR - https://www.scopus.com/pages/publications/84857500439

U2 - 10.1109/TSMCA.2011.2159588

DO - 10.1109/TSMCA.2011.2159588

M3 - Article (Academic Journal)

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SN - 1083-4427

VL - 42

SP - 430

EP - 442

JO - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans

JF - IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans

IS - 2

M1 - 5941031

ER -

Quantitative absolute transparency for bilateral teleoperation of mobile robots

Abstract

Bibliographical note

Keywords

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