In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems / Minelli, M.; Ferraguti, F.; Piccinelli, N.; Muradore, R.; Secchi, C.. - 2019-:(2019), pp. 423-429. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8794335].
An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems
Minelli M.;Ferraguti F.;Secchi C.
2019
Abstract
In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
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