@conference{Minelli2019,
title = {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},
url = {https://nxgsur-icra2019.sciencesconf.org/272549/document},
doi = {10.5281/zenodo.3362947 },
year = {2019},
date = {2019-05-20},
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.
},
keywords = {Control architecture, Control programming, Laparoscopy, Robot, Surgical robots, Teleoperation, Telerobotics},
pubstate = {published},
tppubtype = {conference}
}