Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems

Nguyen Truong Thanh, Xin Jiang, Satoko Abiko, Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.

    Original languageEnglish
    Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
    PublisherSociety of Instrument and Control Engineers (SICE)
    Pages1585-1590
    Number of pages6
    ISBN (Print)9781467322591
    Publication statusPublished - 2012 Jan 1
    Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
    Duration: 2012 Aug 202012 Aug 23

    Publication series

    NameProceedings of the SICE Annual Conference

    Other

    Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
    CountryJapan
    CityAkita
    Period12/8/2012/8/23

    Keywords

    • HIL simulation
    • cooperative teleoperation
    • haptic rendering
    • interaction dynamic

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

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  • Cite this

    Thanh, N. T., Jiang, X., Abiko, S., Tsujita, T., Konno, A., & Uchiyama, M. (2012). Collaborative haptic interaction in virtual environment of multi-operator multi-robot teleoperation systems. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 1585-1590). [6318704] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).