Power scaling in port-Hamiltonian telemanipulation over packet switched networks

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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    In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.
    Original languageUndefined
    Title of host publicationAdvances in Telerobotics
    EditorsM. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer
    Place of PublicationHeidelberg
    Number of pages24
    ISBN (Print)978-3-540-71363-0
    Publication statusPublished - Jan 2007

    Publication series

    NameSpringer tracts in advanced robotics
    PublisherSpringer Verlag
    ISSN (Print)1610-7438


    • EWI-11053
    • IR-61914
    • METIS-241909

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