Power scaling in port-Hamiltonian based bilateral telemanipulation

C Secchi; Stefano Stramigioli; C. Fantuzzi

doi:10.1109/IROS.2005.1545406

Power scaling in port-Hamiltonian based bilateral telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

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

8 Citations (Scopus)

2 Downloads (Pure)

Abstract

In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.

Original language	English
Title of host publication	Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Publisher	IEEE
Pages	1850-1855
Number of pages	6
ISBN (Print)	0-7803-8912-3
DOIs	https://doi.org/10.1109/IROS.2005.1545406
Publication status	Published - Aug 2005
Event	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Shaw Convention Center, Edmonton, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Conference

Conference	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Abbreviated title	IROS
Country/Territory	Canada
City	Edmonton
Period	2/08/05 → 6/08/05

Keywords

CE-Advanced Robotics

Access to Document

10.1109/IROS.2005.1545406

Cite this

@inproceedings{871f84aef1f74611b6c2cccb25eb0f62,

title = "Power scaling in port-Hamiltonian based bilateral telemanipulation",

abstract = "In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.",

keywords = "CE-Advanced Robotics",

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

year = "2005",

month = aug,

doi = "10.1109/IROS.2005.1545406",

language = "English",

isbn = "0-7803-8912-3",

pages = "1850--1855",

booktitle = "Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on",

publisher = "IEEE",

address = "United States",

note = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, IROS ; Conference date: 02-08-2005 Through 06-08-2005",

}

Secchi, C, Stramigioli, S & Fantuzzi, C 2005, Power scaling in port-Hamiltonian based bilateral telemanipulation. in Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. IEEE, pp. 1850-1855, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, Canada, 2/08/05. https://doi.org/10.1109/IROS.2005.1545406

TY - GEN

T1 - Power scaling in port-Hamiltonian based bilateral telemanipulation

AU - Secchi, C

AU - Stramigioli, Stefano

AU - Fantuzzi, C.

PY - 2005/8

Y1 - 2005/8

N2 - In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.

AB - In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.

KW - CE-Advanced Robotics

U2 - 10.1109/IROS.2005.1545406

DO - 10.1109/IROS.2005.1545406

M3 - Conference contribution

SN - 0-7803-8912-3

SP - 1850

EP - 1855

BT - Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

PB - IEEE

T2 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005

Y2 - 2 August 2005 through 6 August 2005

ER -

Power scaling in port-Hamiltonian based bilateral telemanipulation

Abstract

Conference

Keywords

Access to Document

Fingerprint

Cite this