Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems

Nguyen Truong Thanh, Xin Jiang, Satoko Abiko, Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1585-1590
Number of pages6
Publication statusPublished - 2012
Externally publishedYes
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: 2012 Aug 202012 Aug 23

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period12/8/2012/8/23

Fingerprint

Remote control
Virtual reality
Haptic interfaces
Robots
Decentralized control
Engines
Hardware

Keywords

  • cooperative teleoperation
  • haptic rendering
  • HIL simulation
  • interaction dynamic

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Thanh, N. T., Jiang, X., Abiko, S., Tsujita, T., Konno, A., & Uchiyama, M. (2012). Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. In Proceedings of the SICE Annual Conference (pp. 1585-1590). [6318704]

Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. / Thanh, Nguyen Truong; Jiang, Xin; Abiko, Satoko; Tsujita, Teppei; Konno, Atsushi; Uchiyama, Masaru.

Proceedings of the SICE Annual Conference. 2012. p. 1585-1590 6318704.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Thanh, NT, Jiang, X, Abiko, S, Tsujita, T, Konno, A & Uchiyama, M 2012, Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. in Proceedings of the SICE Annual Conference., 6318704, pp. 1585-1590, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 12/8/20.
Thanh NT, Jiang X, Abiko S, Tsujita T, Konno A, Uchiyama M. Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. In Proceedings of the SICE Annual Conference. 2012. p. 1585-1590. 6318704
Thanh, Nguyen Truong ; Jiang, Xin ; Abiko, Satoko ; Tsujita, Teppei ; Konno, Atsushi ; Uchiyama, Masaru. / Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. Proceedings of the SICE Annual Conference. 2012. pp. 1585-1590
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