Haptic tele-driving of wheeled mobile robot over the internet via PSPM approach: theory and experiment

被引：3
|
作者：
Yang, Hyunsoo [1 ,2 ]
Zuo, Zhiyuan [3 ]
Lee, Dongjun [1 ,2 ]
机构：
[1] Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea
[2] Seoul Natl Univ, IAMD, Seoul, South Korea
[3] Univ Michigan, Robot Grad Program, Ann Arbor, MI 48109 USA
来源：
ADVANCED ROBOTICS | 2018年 / 32卷 / 13期
基金：
美国国家科学基金会;
关键词：
Haptic feedback; Internet communication; passivity; teleoperation; wheeled mobile robot; BILATERAL TELEOPERATION; TIME-DELAY;
D O I：
10.1080/01691864.2018.1433061
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We propose novel haptic tele-driving control frameworks of a wheeled mobile robot (WMR) over the imperfect Internet communication network with varying delay and packet loss. We consider both the dynamic and kinematic WMRs and their various tele-driving modes. By utilizing passive set-position modulation framework, we can guarantee two-port passivity or passivity/stability combination of the closed-loop tele-driving system with some theoretical performance measures. Experiments are performed to show the efficacy of the proposed frameworks using the Internet-emulated communication and a custom-built dynamic/kinematic WMR.
引用
收藏
页码：683 / 696
页数：14
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