Transparency in Port-Hamiltonian-Based Telemanipulation

Cristian Secchi; Stefano Stramigioli; Cesare Fantuzzi

doi:10.1109/TRO.2008.924941

Transparency in Port-Hamiltonian-Based Telemanipulation

Cristian Secchi
, Stefano Stramigioli
, Cesare Fantuzzi

Research output: Contribution to journal › Article › Academic › peer-review

14 Citations (Scopus)

384 Downloads (Pure)

Abstract

After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.

Original language	Undefined
Article number	10.1109/TRO.2008.924941
Pages (from-to)	903-910
Number of pages	8
Journal	IEEE transactions on robotics
Volume	24
Issue number	Supplement/4
DOIs	https://doi.org/10.1109/TRO.2008.924941
Publication status	Published - Aug 2008

Keywords

EWI-13478
IR-64992
METIS-251192

Access to Document

10.1109/TRO.2008.924941

Cite this

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title = "Transparency in Port-Hamiltonian-Based Telemanipulation",

abstract = "After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.",

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