DocumentCode
2934139
Title
Significance of Causality Analysis for Transparent Teleoperation
Author
Park, Hyung-Soon ; Chang, Pyung Hun ; Kim, Jong Hyun
Author_Institution
Sensory Motor Performance Program Rehabilitation Institute of Chicago 345 E. Superior St., Chicago, IL 60611, USA; h-park4@northwestern.edu
fYear
2005
fDate
18-22 April 2005
Firstpage
697
Lastpage
702
Abstract
This paper presents significance of causality analysis in attaining transparency of bilateral teleoperation. The causality analysis enabled novel understanding of teleoperation systems, thereby providing methods for finding transparency-attainable control architectures with proper control parameters. Furthermore, when combined with the causality-based stability, stability could still be guaranteed while attaining transparency. Experimental verification is given for simple 1-DOF teleoperation tasks.
Keywords
Bilateral Teleoperation; Causality; Control Architecture; Transparency; Analytical models; Bonding; Control systems; Force feedback; Haptic interfaces; Humans; Master-slave; Mechanical engineering; Performance analysis; Stability analysis; Bilateral Teleoperation; Causality; Control Architecture; Transparency;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570199
Filename
1570199
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