Title :
Bilateral matched impedance teleoperation with application to excavator control
Author :
Salcudean, S.E. ; Hashtrudi-Zaad, K. ; Tafazoli, S. ; DiMaio, S.P. ; Reboulet, C.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper addresses issues of transparency and implementation of dual hybrid teleoperation. A method for automatically adjusting the master and slave impedances to match stiff and soft environments and to interpolate in between them is presented and evaluated using simulations. The application of this technique to the force-feedback control of a mini-excavator is also presented and discussed with supporting experimental results
Keywords :
excavators; feedback; force control; position control; telerobotics; excavator; force-feedback control; impedance matching; master slave system; simulations; teleoperation; Adaptive control; Application software; Communication system control; Feedback loop; Force control; Force feedback; Humans; Impedance; Master-slave; Programmable control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676337
