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Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation

Singh, Harsimran; Jafari, Aghil; Ryu, Jee Hwan; Peer, Angelika

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Authors

Harsimran Singh

Jee Hwan Ryu



Abstract

© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwidth of the slave robot motion controller cannot be increased with a conventional motion controller as the desired trajectory is instantaneously commanded by the human user and thus, cannot be considered to be given in a pre-computed, smooth second order derivative form. We propose a method to increase the command-following bandwidth by extending the previously introduced Successive Stiffness Increment (SSI) approach to bilateral teleoperation. The approach allows realizing a very high motion controller gain, which cannot be realized with a conventional bilateral teleoperation controller as confirmed by experimental results.

Journal Article Type Conference Paper
Start Date Oct 1, 2018
Publication Date Dec 27, 2018
Journal IEEE International Conference on Intelligent Robots and Systems
Print ISSN 2153-0866
Electronic ISSN 2153-0866
Peer Reviewed Peer Reviewed
Pages 4972-4979
ISBN 9781538680940
APA6 Citation Singh, H., Jafari, A., Ryu, J. H., & Peer, A. (2018). Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4972-4979. https://doi.org/10.1109/IROS.2018.8593866
DOI https://doi.org/10.1109/IROS.2018.8593866
Keywords bilateral teleoperation, stability, control, robotics
Publisher URL http://dx.doi.org/10.1109/IROS.2018.8593866
Additional Information Additional Information : (c) 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Title of Conference or Conference Proceedings : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)

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