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Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2006 (English)In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK, NY: IEEE , 2006, 1700-1705 p.Conference paper, Published paper (Refereed)
Abstract [en]

A teleoperation system for controlling a robot with fast dynamics over the Internet has been constructed. It employs a predictive control structure with an accurate dynamic model of the robot to overcome problems caused by varying delays. The operator interface uses a stereo virtual reality display of the robot cell, and a haptic device for force feed-back including virtual obstacle avoidance forces.

Place, publisher, year, edition, pages
NEW YORK, NY: IEEE , 2006. 1700-1705 p.
Keyword [en]
Internet, prediction, remote bilateral teleoperation, time delay, haptics
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-38197DOI: 10.1109/IROS.2006.282127ISI: 000245452401117Scopus ID: 2-s2.0-34250683405ISBN: 978-1-4244-0258-8 (print)OAI: oai:DiVA.org:kth-38197DiVA: diva2:436248
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, PEOPLES R CHINA. OCT 09-13, 2006
Note
Copyright 2006 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. QC 20111006Available from: 2012-01-11 Created: 2011-08-22 Last updated: 2012-01-11Bibliographically approved

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Smith, Christian

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