An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation

被引：8

作者：

Loschi, Filippo ^{[1
]}

Piccinelli, Nicola ^{[1
]}

Dall'Alba, Diego ^{[1
]}

Muradore, Riccardo ^{[1
]}

Fiorini, Paolo ^{[1
]}

Secchi, Cristian ^{[2
]}

机构：

[1] Univ Verona, Dept Comp Sci, Altair Lab, Verona, Italy

[2] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn, Modena, Italy

来源：

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) | 2021年

基金：

欧洲研究理事会; 欧盟地平线“2020”;

关键词：

SURGICAL ROBOTS; TIME; PERFORMANCE; PASSIVITY;

D O I：

10.1109/ICRA48506.2021.9561542

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. Desired performance is obtained by optimizing the way energy is exploited for generating the behaviour at each side. The effectiveness of the proposed architecture is experimentally validated on a torque-controlled manipulator and in a surgical scenario, using the da Vinci (R) Research Kit (dVRK).

引用

页码：12449 / 12455

页数：7

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