An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems
2019 International Conference on Robotics and Automation (ICRA)(2019)
摘要
In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.
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关键词
energy-shared two-layer approach,multimaster-multislave bilateral teleoperation systems,two-layer architecture,multiarms systems,communication delay,energy tank,single-master-single-slave two layer approach,passivity preservation,surgical scenario
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