Delayed Virtual Environments

C Secchi; Stefano Stramigioli; C. Fantuzzi

doi:10.1109/IROS.2003.1249320

Delayed Virtual Environments

C Secchi, Stefano Stramigioli, C. Fantuzzi

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

4 Citations (Scopus)

Abstract

In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.

Original language	English
Title of host publication	Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	-
ISBN (Print)	0-7803-7860-1
DOIs	https://doi.org/10.1109/IROS.2003.1249320
Publication status	Published - 7 Jan 2004
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.2003.1249320

Cite this

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title = "Delayed Virtual Environments",

abstract = "In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.",

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

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AU - Secchi, C

AU - Stramigioli, Stefano

AU - Fantuzzi, C.

PY - 2004/1/7

Y1 - 2004/1/7

N2 - In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.

AB - In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.

U2 - 10.1109/IROS.2003.1249320

DO - 10.1109/IROS.2003.1249320

M3 - Conference contribution

SN - 0-7803-7860-1

SP - -

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

PB - IEEE

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

Y2 - 27 October 2003 through 31 October 2003

ER -

Delayed Virtual Environments

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