基于延迟通信网络的轮式移动机器人双向遥操作

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. Pub Date : 2006-05-15 DOI:10.1109/ROBOT.2006.1642205

Dongjun Lee, Oscar Martinez-Palafox, M. Spong

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引用次数: 126

摘要

我们考虑了一个轮式移动机器人在恒定延迟通信信道上的双边远程操作。我们的主要目标是使人类能够像驾驶汽车一样控制移动机器人:即通过操作主触觉操纵杆，他们可以控制移动机器人的线速度和方向角，就像他们控制油门踏板和方向盘一样。闭环系统的无源性也得到了强化，即使在通信延迟的情况下，人类也可以稳定、安全地远程操作具有力反射的轮式移动机器人。通过半实验(即真实的主/模拟的从)来验证所提出的框架

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Bilateral teleoperation of a wheeled mobile robot over delayed communication network

We consider bilateral teleoperation of a wheeled mobile robot over communication channels with constant delays. Our main objective is to enable humans to control the mobile robot much as they drive a car: i.e. by operating a master haptic joystick, they can control the linear velocity and heading angle of the mobile robot, much like they do so with the gas pedal and steering wheel. Passivity of the closed-loop system is also enforced so that, even with communication delays, humans can stably and safely teleoperate the wheeled mobile robot with force-reflection. A semi-experiment (i.e. real master/simulated slave) is performed to validate the proposed framework

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Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

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