Haptic tele-driving of wheeled mobile robot over the internet via PSPM approach: theory and experiment. (3rd July 2018)

• Record Type: Journal Article
• Authors: Yang, Hyunsoo; Zuo, Zhiyuan; Lee, Dongjun
• Is Part Of: Advanced robotics. Volume 32:Number 13(2018)
• Page Start: 683
• Page End: 696
• Publication Date: 2018-07-03
• Subjects: Haptic feedback -- Internet communication -- passivity -- teleoperation -- wheeled mobile robot; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1433061
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : ABSTRACT: We propose novel haptic tele-driving control frameworks of a wheeled mobile robot (WMR) over the imperfect Internet communication network with varying delay and packet loss. We consider both the dynamic and kinematic WMRs and their various tele-driving modes. By utilizing passive set-position modulation framework, we can guarantee two-port passivity or passivity/stability combination of the closed-loop tele-driving system with some theoretical performance measures. Experiments are performed to show the efficacy of the proposed frameworks using the Internet-emulated communication and a custom-built dynamic/kinematic WMR.