Abstract
In this Chapter we report on the efforts carried out at the Robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. Key issues for the advancement of teleoperation technology include high performance control dealing with problems such as unpredictable delays and low bandwidth, advanced mechanisms and quantitative measures on the complete system including haptic displays. In the area of software development, new methodologies have been developed that permit a very careful and precise design, and allow to implement high performance architectures at a reasonable effort in terms of cost and development time. Our architecture, called Penelope, takes into account very important features of a haptics system: real-time behavior, distributed resources and general purpose structure. However, we are also studying features that make it particularly suited for high reliability and safety operations, such as space teleoperation and robot-assisted surgery.
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Castellani, A., Galvan, S., Botturi, D., Fiorini, P. (2007). Advanced Teleoperation Architecture. In: Brugali, D. (eds) Software Engineering for Experimental Robotics. Springer Tracts in Advanced Robotics, vol 30. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-68951-5_24
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DOI: https://doi.org/10.1007/978-3-540-68951-5_24
Publisher Name: Springer, Berlin, Heidelberg
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