Abstract
This paper discusses Internet-telepresence systems with haptic coupling of operator and environment through a teleoperator. On the basis of known passivation and impedance matching techniques a novel approach to cope with discontinuous time delay variations as they can occur in the Internet is proposed and validated by experimental results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R. Anderson and M. Spong, “Bilateral Control of Teleoperators with Time Delay,” IEEE Transaction on Automatic Control, vol. 34, pp. 494–501, 1989.
G. Niemeyer and J.-J. Slotine, “Stable Adaptive Teleoperation,” IEEE Journal of Oceanic Engineering, vol. 16, pp. 152–162, January 1991.
M. Buss and G. Schmidt, “Control Problems in Multi-Modal Telepresence Systems,” in Advances in Control: Highlights of the 5th European Control Conference ECC’99 in Karlsruhe, Germany (P. Frank, ed.), pp. 65–101, Springer, 1999.
S. Salcudean, “Control for Teleoperation and Haptic Interfaces,” in Lecture Notes in Control and Information Sciences 230: Control Problems in Robotics and Automation (B. Siciliano and K. Valavanis, eds.), pp. 51–66, London: Springer, 1998.
A. R. R. Luck and Y. Halevi, “Observability under Recurrent Loss of Data,” AIAA Journal of Guidance, Control and Dynamics, vol. 15, pp. 284–287, 1992.
Y.-P. Huang and K. Zhou, “Robust Stability of Uncertain Time-Delay Systems,” IEEE Transactions on Automatic Control, vol. 45, pp. 2169–2173, 2000.
G. Niemeyer and J. E. Slotine, “Towards Force-Reflecting Teleoperation Over the Internet,” in Proceedings of the IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 1909–1915, 1998.
H. Baier, M. Buss, and G. Schmidt, “Control Mode Switching for Teledrilling Based on a Hybrid System Model,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM’ 97, (Tokyo, Japan, Paper No. 50), 1997.
W. Book, H. Lane, L. Love, D. Magee, and K. Obergfell, “A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet,” in Proceedings of the IEEE International Conference on Robotics and Automation, (Minneapolis, Minnesota), pp. 1036–1041, 1996.
M. Buss and G. Schmidt, “Multi-Modal Telepresence,” in Proceedings of the 17th International Mechatronics Forum, Science and Technology Forum 2000, (Kagawa University, Kagawa, Japan), pp. 24–33, 2000.
H. Lee and M. Chung, “Adaptive Control of a Master-Slave System for Transparent Teleoperation,” Journal of Robotic Systems, vol. 15, pp. 465–475, 8 1998.
W. Ferrell and T. Sheridan, “Supervisory control of remote manipulation,” IEEE Spectrum, pp. 81–88, October 1967.
W. Ferrell, “Delayed force feedback,” IEEE Transactions on Human Factors, vol. HFE-8, pp. 24–32, September 1966.
B. Hannaford, “A design framework for teleoperators with kinesthetic feedback,” IEEE Transactions on Robotics and Automation, vol. 5, pp. 426–434, August 1989.
K. Hirai and Y. Satoh, “Stability of a System with Variable Time Delay,” IEEE Transactions on Automatic Control, pp. 552–554, 1980.
K. Kosuge, T. Itoh, and T. Fukuda, “Scaled Telemanipulation with Communication Time Delay,” in Proceedings of the IEEE International Conference on Robotics and Automation, (Minneapolis, Minnesota), pp. 2019–2024, 1996.
K. Kosuge, H. Murayama, and K. Takeo, “Bilateral Feedback Control of Telemanipulators via Computer Network,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, (Osaka, Japan), pp. 1380–1385, 1996.
G. Leung, B. Francis, and A. Apkarian, “Bilateral controller for teleoperators with time delay via μ-synthesis,” IEEE Transactions on Robotics and Automation, vol. 10, pp. 105–116, 1993.
P. Arcara and C. Melchiorri, “Control Schemes for Teleoperation with Time Delay: A Comparative Study,” Robotics and Autonomous Systems 950, pp. 1–16, 2001.
T. Sheridan, Telerobotics, Automation, and Human Supervisory Control. Cambridge, Massachusetts: MIT Press, 1992.
T. Sheridan, “Telerobotics,” Automatica, vol. 25, no. 4, pp. 487–507, 1989.
M.-Y. Shi, “Designing Force Reflecting Teleoperators with Large Time Delays to Appear as Virtual Tool,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2212–2218, 1997.
S. Hirche, “Control of Teleoperation Systems in QoS Communication Networks.” Diploma Thesis, Control Systems Group, Technical University Berlin, 2002.
H. Baier, M. Buss, F. Freyberger, J. Hoogen, P. Kammermeier, and G. Schmidt, “Distributed PC-Based Haptic, Visual and Acoustic Telepresence System—Experiments in Virtual and Remote Environments,” in Proceedings of the IEEE Virtual Reality Conference VR’99, (Houston, TX), pp. 118–125, 1999.
H. Baier, M. Buss, and G. Schmidt, “Stabilität und Modusumschaltung von Regelkreisen in Teleaktionssystemen,” at—Automatisierungstechnik, vol. 48, pp. 51–59, Februar 2000.
G. Niemeyer and J. E. Slotine, “Using Wave Variables for System Analysis and Robot Control,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1619–1625, 1997.
D. Lawrence, “Stability and Transparency in Bilateral Teleoperation,” IEEE Transactions on Robotics and Automation, vol. 9, pp. 624–637, October 1993.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer Science+Business Media New York
About this paper
Cite this paper
Hirche, S., Buss, M. (2002). Haptic Internet-Telepresence. In: Hommel, G., Huanye, S. (eds) The Internet Challenge: Technology and Applications. Springer, Dordrecht. https://doi.org/10.1007/978-94-010-0494-7_8
Download citation
DOI: https://doi.org/10.1007/978-94-010-0494-7_8
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-3942-0
Online ISBN: 978-94-010-0494-7
eBook Packages: Springer Book Archive