Virtual impedance based remote tele-collaboration with time delay

Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya, Nobuto Matsuhira, Kazuo Tanie

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

5 Citations (Scopus)

Abstract

In this paper, a collision-free coordinated control scheme is discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation through a network with communication time delay. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with the collision arising from the communication delay in MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in local predictor simulator. When the possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arras based on simulation models.

Original languageEnglish
Title of host publicationRobot and Human Communication - Proceedings of the IEEE International Workshop
Pages267-272
Number of pages6
Publication statusPublished - 1999
Externally publishedYes
Event8th IEEE International Workshop on Robot and Human Communication RO-MAN '99 - Pisa
Duration: 1999 Sep 271999 Sep 29

Other

Other8th IEEE International Workshop on Robot and Human Communication RO-MAN '99
CityPisa
Period99/9/2799/9/29

Fingerprint

Time delay
Robots
Remote control
Communication
Surgery
Simulators

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software

Cite this

Chong, N. Y., Kotoku, T., Ohba, K., Komoriya, K., Matsuhira, N., & Tanie, K. (1999). Virtual impedance based remote tele-collaboration with time delay. In Robot and Human Communication - Proceedings of the IEEE International Workshop (pp. 267-272)

Virtual impedance based remote tele-collaboration with time delay. / Chong, Nak Young; Kotoku, Tetsuo; Ohba, Kohtaro; Komoriya, Kiyoshi; Matsuhira, Nobuto; Tanie, Kazuo.

Robot and Human Communication - Proceedings of the IEEE International Workshop. 1999. p. 267-272.

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

Chong, NY, Kotoku, T, Ohba, K, Komoriya, K, Matsuhira, N & Tanie, K 1999, Virtual impedance based remote tele-collaboration with time delay. in Robot and Human Communication - Proceedings of the IEEE International Workshop. pp. 267-272, 8th IEEE International Workshop on Robot and Human Communication RO-MAN '99, Pisa, 99/9/27.
Chong NY, Kotoku T, Ohba K, Komoriya K, Matsuhira N, Tanie K. Virtual impedance based remote tele-collaboration with time delay. In Robot and Human Communication - Proceedings of the IEEE International Workshop. 1999. p. 267-272
Chong, Nak Young ; Kotoku, Tetsuo ; Ohba, Kohtaro ; Komoriya, Kiyoshi ; Matsuhira, Nobuto ; Tanie, Kazuo. / Virtual impedance based remote tele-collaboration with time delay. Robot and Human Communication - Proceedings of the IEEE International Workshop. 1999. pp. 267-272
@inproceedings{01fad66a8d61460690e0e10e1cc596c8,
title = "Virtual impedance based remote tele-collaboration with time delay",
abstract = "In this paper, a collision-free coordinated control scheme is discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation through a network with communication time delay. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with the collision arising from the communication delay in MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in local predictor simulator. When the possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arras based on simulation models.",
author = "Chong, {Nak Young} and Tetsuo Kotoku and Kohtaro Ohba and Kiyoshi Komoriya and Nobuto Matsuhira and Kazuo Tanie",
year = "1999",
language = "English",
pages = "267--272",
booktitle = "Robot and Human Communication - Proceedings of the IEEE International Workshop",

}

TY - GEN

T1 - Virtual impedance based remote tele-collaboration with time delay

AU - Chong, Nak Young

AU - Kotoku, Tetsuo

AU - Ohba, Kohtaro

AU - Komoriya, Kiyoshi

AU - Matsuhira, Nobuto

AU - Tanie, Kazuo

PY - 1999

Y1 - 1999

N2 - In this paper, a collision-free coordinated control scheme is discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation through a network with communication time delay. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with the collision arising from the communication delay in MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in local predictor simulator. When the possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arras based on simulation models.

AB - In this paper, a collision-free coordinated control scheme is discussed for Multi-Operator-Multi-Robot (MOMR) teleoperation through a network with communication time delay. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with the collision arising from the communication delay in MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in local predictor simulator. When the possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arras based on simulation models.

UR - http://www.scopus.com/inward/record.url?scp=0033487790&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033487790&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0033487790

SP - 267

EP - 272

BT - Robot and Human Communication - Proceedings of the IEEE International Workshop

ER -