In teleoperation, master and slave robots directly exchange position and force data to establish a connection between local and remote sites. Model-mediation interjects an environment model rendered to the user to create a sense of remote presence. The slave continually updates this model from actual interactions. Here we evaluate a dual-mode implementation, which classifies the environment into one of two models describing rigid contact or free motion. Performance is measured against various prototypical environments, observing master force outputs to motion inputs to evaluate user’s perception of the environment. We find performance to depend on system lag as well as model error, such that multiple-model systems fundamentally outperform traditional architectures.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
Perception of Prototypical Environments in Model-Mediated Teleoperation
June Gyu Park,
June Gyu Park
Stanford University, Stanford, CA
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Gu¨nter Niemeyer
Gu¨nter Niemeyer
Stanford University, Stanford, CA
Search for other works by this author on:
June Gyu Park
Stanford University, Stanford, CA
Gu¨nter Niemeyer
Stanford University, Stanford, CA
Paper No:
DSCC2008-2268, pp. 1229-1236; 8 pages
Published Online:
June 29, 2009
Citation
Park, JG, & Niemeyer, G. "Perception of Prototypical Environments in Model-Mediated Teleoperation." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 1229-1236. ASME. https://doi.org/10.1115/DSCC2008-2268
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