Small gain design of cooperative teleoperator system with projection-based force reflection
Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force...
Gespeichert in:
Hauptverfasser: | , , |
---|---|
Format: | Tagungsbericht |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
container_end_page | 658 |
---|---|
container_issue | |
container_start_page | 653 |
container_title | |
container_volume | |
creator | Polushin, Ilia G. Takhmar, Amir Patel, Rajni V. |
description | Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked cooperative teleoperator system under different conditions on the human dynamics and for different types of the force reflection algorithms. Samples of experimental results are presented. |
doi_str_mv | 10.1109/IROS.2011.6095005 |
format | Conference Proceeding |
fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6095005</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6095005</ieee_id><sourcerecordid>6095005</sourcerecordid><originalsourceid>FETCH-LOGICAL-i105t-80485bc3cb07d2f4b48d8173d2a19016b262d591a894a2c8018b94826ec349cd3</originalsourceid><addsrcrecordid>eNo9kM1KAzEUheMfWGsfQNzkBabem0kyyVKKP4VCwerKRclk7tSUaTMkg9K3d9Hq6vCdD87iMHaHMEUE-zB_W66mAhCnGqwCUGdsYiuDGoWRUilzzkYCVVmA0fqC3fwJqS7_hTLXbJLzFgAQKmusHrHP1c51Hd-4sOcN5bDZ89hyH2NPyQ3hm_hAHR0pJp4PeaAd_wnDF-9T3JIfQtwXtcvU8DYmTzxR2x3rW3bVui7T5JRj9vH89D57LRbLl_nscVEEBDUUBqRRtS99DVUjWllL0xisykY4tIC6Flo0yqIzVjrhDaCprTRCky-l9U05ZvfH3UBE6z6FnUuH9emn8het4VhG</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Small gain design of cooperative teleoperator system with projection-based force reflection</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Polushin, Ilia G. ; Takhmar, Amir ; Patel, Rajni V.</creator><creatorcontrib>Polushin, Ilia G. ; Takhmar, Amir ; Patel, Rajni V.</creatorcontrib><description>Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked cooperative teleoperator system under different conditions on the human dynamics and for different types of the force reflection algorithms. Samples of experimental results are presented.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 1612844545</identifier><identifier>ISBN: 9781612844541</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781612844558</identifier><identifier>EISBN: 1612844553</identifier><identifier>EISBN: 9781612844565</identifier><identifier>EISBN: 1612844561</identifier><identifier>DOI: 10.1109/IROS.2011.6095005</identifier><language>eng</language><publisher>IEEE</publisher><subject>Dynamics ; Force ; Humans ; Impedance ; Manipulators ; Stability analysis ; Teleoperators</subject><ispartof>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p.653-658</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6095005$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6095005$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Polushin, Ilia G.</creatorcontrib><creatorcontrib>Takhmar, Amir</creatorcontrib><creatorcontrib>Patel, Rajni V.</creatorcontrib><title>Small gain design of cooperative teleoperator system with projection-based force reflection</title><title>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked cooperative teleoperator system under different conditions on the human dynamics and for different types of the force reflection algorithms. Samples of experimental results are presented.</description><subject>Dynamics</subject><subject>Force</subject><subject>Humans</subject><subject>Impedance</subject><subject>Manipulators</subject><subject>Stability analysis</subject><subject>Teleoperators</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1612844545</isbn><isbn>9781612844541</isbn><isbn>9781612844558</isbn><isbn>1612844553</isbn><isbn>9781612844565</isbn><isbn>1612844561</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kM1KAzEUheMfWGsfQNzkBabem0kyyVKKP4VCwerKRclk7tSUaTMkg9K3d9Hq6vCdD87iMHaHMEUE-zB_W66mAhCnGqwCUGdsYiuDGoWRUilzzkYCVVmA0fqC3fwJqS7_hTLXbJLzFgAQKmusHrHP1c51Hd-4sOcN5bDZ89hyH2NPyQ3hm_hAHR0pJp4PeaAd_wnDF-9T3JIfQtwXtcvU8DYmTzxR2x3rW3bVui7T5JRj9vH89D57LRbLl_nscVEEBDUUBqRRtS99DVUjWllL0xisykY4tIC6Flo0yqIzVjrhDaCprTRCky-l9U05ZvfH3UBE6z6FnUuH9emn8het4VhG</recordid><startdate>201109</startdate><enddate>201109</enddate><creator>Polushin, Ilia G.</creator><creator>Takhmar, Amir</creator><creator>Patel, Rajni V.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201109</creationdate><title>Small gain design of cooperative teleoperator system with projection-based force reflection</title><author>Polushin, Ilia G. ; Takhmar, Amir ; Patel, Rajni V.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i105t-80485bc3cb07d2f4b48d8173d2a19016b262d591a894a2c8018b94826ec349cd3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Dynamics</topic><topic>Force</topic><topic>Humans</topic><topic>Impedance</topic><topic>Manipulators</topic><topic>Stability analysis</topic><topic>Teleoperators</topic><toplevel>online_resources</toplevel><creatorcontrib>Polushin, Ilia G.</creatorcontrib><creatorcontrib>Takhmar, Amir</creatorcontrib><creatorcontrib>Patel, Rajni V.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Polushin, Ilia G.</au><au>Takhmar, Amir</au><au>Patel, Rajni V.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Small gain design of cooperative teleoperator system with projection-based force reflection</atitle><btitle>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2011-09</date><risdate>2011</risdate><spage>653</spage><epage>658</epage><pages>653-658</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>1612844545</isbn><isbn>9781612844541</isbn><eisbn>9781612844558</eisbn><eisbn>1612844553</eisbn><eisbn>9781612844565</eisbn><eisbn>1612844561</eisbn><abstract>Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked cooperative teleoperator system under different conditions on the human dynamics and for different types of the force reflection algorithms. Samples of experimental results are presented.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2011.6095005</doi><tpages>6</tpages></addata></record> |
fulltext | fulltext_linktorsrc |
identifier | ISSN: 2153-0858 |
ispartof | 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p.653-658 |
issn | 2153-0858 2153-0866 |
language | eng |
recordid | cdi_ieee_primary_6095005 |
source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Dynamics Force Humans Impedance Manipulators Stability analysis Teleoperators |
title | Small gain design of cooperative teleoperator system with projection-based force reflection |
url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-24T13%3A27%3A53IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Small%20gain%20design%20of%20cooperative%20teleoperator%20system%20with%20projection-based%20force%20reflection&rft.btitle=2011%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Polushin,%20Ilia%20G.&rft.date=2011-09&rft.spage=653&rft.epage=658&rft.pages=653-658&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=1612844545&rft.isbn_list=9781612844541&rft_id=info:doi/10.1109/IROS.2011.6095005&rft_dat=%3Cieee_6IE%3E6095005%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781612844558&rft.eisbn_list=1612844553&rft.eisbn_list=9781612844565&rft.eisbn_list=1612844561&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6095005&rfr_iscdi=true |