NDLI: Intercontinental multimodal tele-cooperation using a humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Peer, A. Hirche, S. Weber, C. Krause, I. Buss, M. Miossec, S. Evrard, P. Stasse, O. Ee Sian Neo Kheddar, A. Yokoi, K.
Copyright Year	2008
Description	Author affiliation: Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich (Peer, A.; Hirche, S.; Weber, C.; Krause, I.; Buss, M.) \|\| Joint Japanese-French Robot. Lab., AIST/CNRS, Tsukuba (Miossec, S.; Evrard, P.; Stasse, O.; Ee Sian Neo; Kheddar, A.; Yokoi, K.)
Abstract	In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellynpsilas stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.
Starting Page	405
Ending Page	411
File Size	1749325
Page Count	7
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650829
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Stability analysis Admittance Stability criteria Force Haptic interfaces Robots
Content Type	Text
Resource Type	Article

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