Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation

C. Secchi; S. Stramigioli; C. Fantuzzi

doi:10.1109/IROS.2003.1249298

Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation

C. Secchi^*, S. Stramigioli, C. Fantuzzi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

23 Citations (Scopus)

9 Downloads (Pure)

Abstract

In this paper two problems arising in the digital passive scheme for telemanipulation presented in [3] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.

Original language	English
Title of host publication	Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)
Pages	2823-2828
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2003.1249298
Publication status	Published - 26 Dec 2003
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003 - Las Vegas, United States Duration: 27 Oct 2003 → 31 Oct 2003

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003
Abbreviated title	IROS
Country/Territory	United States
City	Las Vegas
Period	27/10/03 → 31/10/03

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10.1109/IROS.2003.1249298

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title = "Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation",

abstract = "In this paper two problems arising in the digital passive scheme for telemanipulation presented in [3] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.",

author = "C. Secchi and S. Stramigioli and C. Fantuzzi",

year = "2003",

month = dec,

day = "26",

doi = "10.1109/IROS.2003.1249298",

language = "English",

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pages = "2823--2828",

booktitle = "Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003, IROS ; Conference date: 27-10-2003 Through 31-10-2003",

}

Secchi, C, Stramigioli, S & Fantuzzi, C 2003, Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation. in Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) . pp. 2823-2828, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003, Las Vegas, Nevada, United States, 27/10/03. https://doi.org/10.1109/IROS.2003.1249298

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T1 - Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation

AU - Secchi, C.

AU - Stramigioli, S.

AU - Fantuzzi, C.

PY - 2003/12/26

Y1 - 2003/12/26

N2 - In this paper two problems arising in the digital passive scheme for telemanipulation presented in [3] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.

AB - In this paper two problems arising in the digital passive scheme for telemanipulation presented in [3] are addressed. At first, we show how to preserve system passivity in presence of quantization error introduced by position sensor (i.e. encoders) by introducing energy dissipation. Then, we introduce a scheme for a redundant communication channel that will compensate for missed packets improving performances while preserving passivity of the overall scheme.

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U2 - 10.1109/IROS.2003.1249298

DO - 10.1109/IROS.2003.1249298

M3 - Conference contribution

AN - SCOPUS:0346778908

SN - 0-7803-7860-1

SP - 2823

EP - 2828

BT - Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003

Y2 - 27 October 2003 through 31 October 2003

ER -

Dealing with Unreliabilities in Digital Passive Geometric Telemanipulation

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