Published October 18, 2019
| Version v1
Poster
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A multi-master multi-slave bilateral teleoperation architecture using the two-layer approach
Description
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.
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A multi-master multi-slave bilateral teleoperation architecture using the two-layer approach.pdf
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