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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2012 Proceedings of SICE Annual Conference, SICE 2012
出版社Society of Instrument and Control Engineers (SICE)
ページ1585-1590
ページ数6
ISBN(印刷版)9781467322591
出版ステータスPublished - 2012 1 1
外部発表はい
イベント2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
継続期間: 2012 8 202012 8 23

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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