NDLI: Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems

Content Provider	IEEE Xplore Digital Library
Author	Nguyen Truong Thanh Xin Jiang Abiko, S. Tsujita, T. Konno, A. Uchiyama, M.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Systems and Design, Graduate School of Engineering, Tohoku University, Japan (Nguyen Truong Thanh; Xin Jiang; Abiko, S.; Tsujita, T.; Uchiyama, M.) \|\| Graduate School of Information Science and Technology, Hokkaido University, Japan (Konno, A.)
Abstract	In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.
Starting Page	1585
Ending Page	1590
File Size	1266719
Page Count	6
File Format	PDF
ISBN	9781467322591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-08-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Haptic interfaces Robots Dynamics Engines Computational modeling Virtual environments Collaboration haptic rendering HIL simulation cooperative teleoperation interaction dynamic
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in