A multi-master multi-slave bilateral teleoperation architecture using the two-layer approach
| Main Authors: | Marco Minelli, Federica Ferraguti, Cristian Secchi, Nicola Piccinelli, Riccardo Muradore |
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| Format: | Proceeding poster Journal |
| Terbitan: |
, 2019
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/4785737 |
Daftar Isi:
- In this contribution, a two-layer architecture for multi-master multi-slave bilateral teleoperation systems with communication delay is presented. The novelty with respect to previous works is the use of a single energy tank to reduce the conservativeness due to the passivity approach and to increment the level of transparency.