Title :
Advanced Teleoperation Architecture
Author :
Galvan, S. ; Castellani, A. ; Botturi, D. ; Fiorini, P.
Author_Institution :
Dept. of Comput. Sci., Verona Univ.
Abstract :
In this paper we report on the efforts carried out at the Robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. This architecture, called Penelope, takes into account the main features of a haptics system: real-time behavior, distributed resources, general purpose structure and safe exchange of data. The emphasis here is on heterogeneous hardware and software within the same structure
Keywords :
control engineering computing; force feedback; haptic interfaces; manipulators; telerobotics; NASA-JPL Force Reflecting Hand Controllers; PUMA 200; PUMA 560; Penelope; bilateral teleoperation system; distributed resources; distributed software architecture; force feedback; general purpose structure; haptics system; real-time behavior; safe data exchange; Computer architecture; Force control; Force sensors; Hardware; Intelligent robots; Laboratories; Linux; Middleware; Software architecture; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282124
