Variable delay in scaled port-Hamiltonian telemanipulation

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

    Research output: Contribution to journalArticleAcademicpeer-review

    10 Citations (Scopus)


    In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery, micromanipulation). Scaling forces and velocities means scaling the power that is exchanged between master and slave sides through the communication channel. In this paper we show how it is possible to embed power scaling in the scattering based communication channel used in port-Hamiltonian based telemanipulation. Furthermore, a strategy for passively dealing with variable communication delay is proposed in order to allow scaled teleoperation over packet switched networks as Internet.
    Original languageUndefined
    Pages (from-to)357-363
    Number of pages7
    Issue number7
    Publication statusPublished - 2007


    • CE-Advanced Robotics
    • TelemanipulationPort-Hamiltonian systemsVariable delay
    • Variable delay
    • IR-76738
    • Telemanipulation
    • EWI-20022
    • Port Hamiltonian Systems

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