HapticV1, Hal, Checkpoint, bibRecord, 000420

Intercontinental multimodal tele-cooperation using a humanoid robot

Identifieur interne : 000420 ( Hal/Checkpoint ); précédent : 000419; suivant : 000421

Intercontinental multimodal tele-cooperation using a humanoid robot

Auteurs : Angelika Peer [Allemagne] ; Sandra Hirche [Allemagne] ; Carolina Weber [Allemagne] ; Inga Krause [Allemagne] ; Martin Buss [Allemagne] ; Sylvain Miossec [Japon] ; Paul Evrard [Japon] ; Olivier Stasse [Japon] ; Rio Ee Sian [Japon] ; Abderrahmane Kheddar [France] ; Kazuhito Yokoi [Japon]

Source :

RBID : Hal:lirmm-00798823

Abstract

In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.

Url:

http://hal-lirmm.ccsd.cnrs.fr/lirmm-00798823

DOI: 10.1109/IROS.2008.4650829

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to stream Hal, to step Corpus: 000609
to stream Hal, to step Curation: 000609

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Hal:lirmm-00798823

Le document en format XML

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<front><div type="abstract" xml:lang="en">In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.</div>
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<hal api="V3"><titleStmt><title xml:lang="it">Intercontinental multimodal tele-cooperation using a humanoid robot</title>
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<funder ref="#projeurop-79768"></funder>
<funder>German Research Foundation (DFG) within the collaborative research center SFB453 "High-Fidelity Telepresence and Teleaction"</funder>
</titleStmt>
<editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-03-10 21:00:12</date>
<date type="whenModified">2016-01-20 14:49:16</date>
<date type="whenReleased">2013-03-24 10:42:01</date>
<date type="whenProduced">2008-09-22</date>
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<respStmt><resp>contributor</resp>
<name key="175225"><persName><forename>François</forename>
<surname>Keith</surname>
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<email>keith@lirmm.fr</email>
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<idno type="halRefHtml">IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, 2008, <http://iros2008.inria.fr/>. <10.1109/IROS.2008.4650829></idno>
<idno type="halRef">IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, 2008, <http://iros2008.inria.fr/>. <10.1109/IROS.2008.4650829></idno>
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<sourceDesc><biblStruct><analytic><title xml:lang="it">Intercontinental multimodal tele-cooperation using a humanoid robot</title>
<author role="aut"><persName><forename type="first">Angelika</forename>
<surname>Peer</surname>
</persName>
<idno type="halAuthorId">825771</idno>
<affiliation ref="#struct-406541"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Sandra</forename>
<surname>Hirche</surname>
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<idno type="halAuthorId">825914</idno>
<affiliation ref="#struct-406541"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Carolina</forename>
<surname>Weber</surname>
</persName>
<idno type="halAuthorId">825770</idno>
<affiliation ref="#struct-406541"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Inga</forename>
<surname>Krause</surname>
</persName>
<idno type="halAuthorId">825915</idno>
<affiliation ref="#struct-406541"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Martin</forename>
<surname>Buss</surname>
</persName>
<idno type="halAuthorId">825772</idno>
<affiliation ref="#struct-406541"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Sylvain</forename>
<surname>Miossec</surname>
</persName>
<email>sylvain.miossec@aist.go.jp</email>
<idno type="halAuthorId">825905</idno>
<affiliation ref="#struct-85257"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Paul</forename>
<surname>Evrard</surname>
</persName>
<idno type="halAuthorId">409130</idno>
<affiliation ref="#struct-85257"></affiliation>
<affiliation ref="#struct-395113"></affiliation>
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<author role="aut"><persName><forename type="first">Olivier</forename>
<surname>Stasse</surname>
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<email>ostasse@laas.fr</email>
<idno type="idHal">olivier-stasse</idno>
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<author role="aut"><persName><forename type="first">Rio</forename>
<surname>Ee Sian</surname>
</persName>
<email>rio.neo@aist.go.jp</email>
<idno type="halAuthorId">152570</idno>
<affiliation ref="#struct-85257"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Abderrahmane</forename>
<surname>Kheddar</surname>
</persName>
<email>abderrahmane.kheddar@aist.go.jp</email>
<idno type="halAuthorId">831275</idno>
<affiliation ref="#struct-395113"></affiliation>
<affiliation ref="#struct-85257"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Kazuhito</forename>
<surname>Yokoi</surname>
</persName>
<email>kazuhito.yokoi@aist.go.jp</email>
<idno type="halAuthorId">152571</idno>
<affiliation ref="#struct-85257"></affiliation>
</author>
</analytic>
<monogr><meeting><title>IROS'08: International Conference on Intelligent Robots and Systems</title>
<date type="start">2008-09-22</date>
<date type="end">2008-09-26</date>
<settlement>Nice</settlement>
<country key="FR">France</country>
</meeting>
<imprint><biblScope unit="pp">405-411</biblScope>
<date type="datePub">2008-09-23</date>
</imprint>
</monogr>
<idno type="doi">10.1109/IROS.2008.4650829</idno>
<ref type="publisher">http://iros2008.inria.fr/</ref>
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<profileDesc><langUsage><language ident="en">English</language>
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<textClass><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
<classCode scheme="halTypology" n="COMM">Conference papers</classCode>
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<abstract xml:lang="en">In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.</abstract>
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Intercontinental multimodal tele-cooperation using a humanoid robot

Intercontinental multimodal tele-cooperation using a humanoid robot

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