DC Field | Value | Language |
---|---|---|
dc.contributor.author | Singh, Harsimran | ko |
dc.contributor.author | Jafari, Aghil | ko |
dc.contributor.author | Peer, Agenlika | ko |
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.date.accessioned | 2021-01-12T01:10:10Z | - |
dc.date.available | 2021-01-12T01:10:10Z | - |
dc.date.created | 2021-01-05 | - |
dc.date.created | 2021-01-05 | - |
dc.date.issued | 2018-10-01 | - |
dc.identifier.citation | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4972 - 4979 | - |
dc.identifier.uri | http://hdl.handle.net/10203/279857 | - |
dc.description.abstract | 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. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | Enhancing the command-following bandwidth for transparent bilateral teleoperation | - |
dc.type | Conference | - |
dc.identifier.wosid | 000458872704084 | - |
dc.identifier.scopusid | 2-s2.0-85062975435 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 4972 | - |
dc.citation.endingpage | 4979 | - |
dc.citation.publicationname | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | - |
dc.identifier.conferencecountry | SP | - |
dc.identifier.conferencelocation | Madrid Municipal Conference CentreMadrid | - |
dc.identifier.doi | 10.1109/IROS.2018.8593866 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Singh, Harsimran | - |
dc.contributor.nonIdAuthor | Jafari, Aghil | - |
dc.contributor.nonIdAuthor | Peer, Agenlika | - |
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