Wave variables are a very popular approach for dealing with communication delay in bilateral teleoperation because of their effectiveness and of their simplicity. Nevertheless, the inherent dynamics of wave based communication channels is often deleterious for the transparency of the teleoperation system. Recently proposed architectures like TDPN, PSPM and two layers approach allow to achieve a high transparency at the price of a complex architecture, with some parameters to tune empirically. In this paper we propose a novel wave based architecture that blends the high performance that can be achieved by recently proposed architectures with the simplicity of wave based bilateral teleoperation.

Catching the wave: A transparency oriented wave based teleoperation architecture / Secchi, Cristian; Ferraguti, Federica; Fantuzzi, Cesare. - 2016-:(2016), pp. 2422-2427. (Intervento presentato al convegno 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 tenutosi a Stockholm Waterfront Congress Center, swe nel 2016) [10.1109/ICRA.2016.7487393].

Catching the wave: A transparency oriented wave based teleoperation architecture

SECCHI, Cristian;FERRAGUTI, Federica;FANTUZZI, Cesare
2016

Abstract

Wave variables are a very popular approach for dealing with communication delay in bilateral teleoperation because of their effectiveness and of their simplicity. Nevertheless, the inherent dynamics of wave based communication channels is often deleterious for the transparency of the teleoperation system. Recently proposed architectures like TDPN, PSPM and two layers approach allow to achieve a high transparency at the price of a complex architecture, with some parameters to tune empirically. In this paper we propose a novel wave based architecture that blends the high performance that can be achieved by recently proposed architectures with the simplicity of wave based bilateral teleoperation.
2016
2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Stockholm Waterfront Congress Center, swe
2016
2016-
2422
2427
Secchi, Cristian; Ferraguti, Federica; Fantuzzi, Cesare
Catching the wave: A transparency oriented wave based teleoperation architecture / Secchi, Cristian; Ferraguti, Federica; Fantuzzi, Cesare. - 2016-:(2016), pp. 2422-2427. (Intervento presentato al convegno 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 tenutosi a Stockholm Waterfront Congress Center, swe nel 2016) [10.1109/ICRA.2016.7487393].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1113515
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