An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems

Marco Minelli; Federica Ferraguti; Nicola Piccinelli; Riccardo Muradore; Cristian Secchi

ICRA 2019poster40 citations

An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems

Marco Minelli, Federica Ferraguti, Nicola Piccinelli, Riccardo Muradore, Cristian Secchi

Abstract

In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conservativeness due to passivity preservation and to increment the level of transparency that can be achieved. The proposed approach is implemented on a realistic surgical scenario developed within the EU-funded SARAS project.

BibTeX

@inproceedings{icra2019_anenergysharedtw,
  title = {An energy-shared two-layer approach for multi-master-multi-slave bilateral teleoperation systems},
  author = {Marco Minelli and Federica Ferraguti and Nicola Piccinelli and Riccardo Muradore and Cristian Secchi},
  booktitle = {ICRA 2019},
  year = {2019}
}