Passive shared virtual environment for haptic cooperation

被引：1

作者：

Rakhsha, Ramtin ^{[1
]}

Constantinescu, Daniela ^{[1
]}

Shi, Yang ^{[1
]}

机构：

[1] Univ Victoria, Dept Mech Engn, Victoria, BC, Canada

来源：

AUTONOMOUS ROBOTS | 2019年 / 43卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Haptic cooperation; Port-Hamiltonian systems; Shared virtual object; Wave-based communication; n-port passivity; CONTROL ARCHITECTURE; TELEOPERATION; SIMULATION; SYSTEMS;

D O I：

10.1007/s10514-018-9809-3

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. A passive paradigm is introduced for shared virtual object (SVO) with n distributed copies on communications with unreliable data transmission. The n-port passivity of the SVO system is proved and followed by the steady-state analysis. Three-user haptic cooperation experiments validate the theoretical findings.

引用

页码：1489 / 1504

页数：16

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