Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Bilateral Teleoperation"”.
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Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements
In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The …
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Design and implementation of a pair of robot arms with bilateral teleoperation
… to avoid hindering the operator. Force feedback bilateral teleoperation is one method for providing users with an intuitive user interface and feedback. This thesis documents the design, construction, and implementation of a pair of bilateral teleoperated robotic forearms, each consisting of a 2 …
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A whole-body human-machine interface for dynamic bilateral teleoperation of humanoid robots
… and intuition. Hence, humanoid robot teleoperation, i.e., controlling humanoid robots with human movements, promises to supply human planning intelligence to the robots, and appears to be a feasible intermediate step in the transition from physically capable humanoid robots to …
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Soft Smart Interfaces for Bilateral Teleoperation with Distributed Tactile Haptic Feedback in Remote Medical Palpation
… interface. Such an interface should act as a bilateral physical twin of the patient in the remote environment. It should not only reproduce the morphology of the tissues in contact with the robotic end-effector but also allow the doctor to control the robot's trajectory by just palpating the …
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Output Synchronization of Networked Passive Systems
… The problems of multi-robot coordination and of bilateral teleoperation with time delay are shown to be special cases of our general results.
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A low cost modular actuator for dynamic robots
… these actuators are also discussed, a including bilateral teleoperation and haptic feedback system and a 6 degree of freedom lower-body biped robot.
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An experimental investigation of sensory feedback methods within teleoperation robotic systems
… into sensory feedback methods within teleoperation applications, focusing on vibration feedback and visual cues. A bilateral teleoperation system is developed on a semi humanoid industrial inspired robot using HTC Vive tracking technology as a control method. The design and …
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Teleoperation of Differential Drive Mobile Robots
… over constant time delay with force feedback. Teleoperation of a single and multiple robots is considered. In the case of teleoperation of a single DDMR, two redefinitions of the passivity of the master device are presented. Using this redefinitions of passivity, a teleoperation system that …
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Enhancing safety in telerobotic surgery via haptic feedback
Bilateral teleoperation with master/slave mechanism provides a means of transmitting the interactions between the slave robot and the environment to the master side by letting the user perceive the interaction force that generated by the actuators in the haptic device. In this dissertation, two …
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Teleoperation of passivity-based model reference robust control over the internet
… systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated …
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Reliable control of surgical robots and stabilization of long short-term memory neural networks
… The second part studies a well known problem in bilateral teleoperation systems in presence of asymmetric communication delays, for the case when there is a controller saturation constraint on both the local and remote manipulators. Stability under time delays has been a key challenge in the …
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Modeling, Control and Evaluation of the quasi-Spherical Parallel Manipulator: A master device for telesurgery and teleproctoring
L'abstract è presente nell'allegato / the abstract is in the attachment