Power scaling in port-Hamiltonian based bilateral telemanipulation

C Secchi, Stefano Stramigioli, C. Fantuzzi

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    6 Citations (Scopus)

    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 languageEnglish
    Title of host publicationIntelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
    PublisherIEEE
    Pages1850-1855
    Number of pages6
    ISBN (Print)0-7803-8912-3
    DOIs
    Publication statusPublished - Aug 2005
    Event2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Shaw Convention Center, Edmonton, Canada
    Duration: 2 Aug 20056 Aug 2005

    Conference

    Conference2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
    Abbreviated titleIROS
    CountryCanada
    CityEdmonton
    Period2/08/056/08/05

    Keywords

    • CE-Advanced Robotics

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