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Teleoperation of a Multi-robot System with Adjustable Dynamic Parameters

  • Lorenzo SabattiniEmail author
  • Cesare Fantuzzi
  • Cristian Secchi
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)

Abstract

In this paper we propose a new approach for the teleoperation of a multi-robot system, in which we allow the user to teleoperate the group of robots as if it were a desired mass subject to a given damping coefficient. In the proposed method, we allow the user to exploit the teleoperation device for both controlling the position of the robots and for defining the setpoint for the dynamical parameters. This is achieved by means of a local scaling of the coupling actions among the robots, performed in a passivity-preserving manner. Experiments on a real robotic setup are performed to corroborate the theoretical results.

Keywords

Multi-robot systems Teleoperation Variable parameters Passivity 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Lorenzo Sabattini
    • 1
    Email author
  • Cesare Fantuzzi
    • 1
  • Cristian Secchi
    • 1
  1. 1.Department of Sciences and Methods for Engineering (DISMI)University of Modena and Reggio EmiliaReggio EmiliaItaly

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