Transparency in Port-Hamiltonian-Based Telemanipulation

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Secchi, Cristian and Stramigioli, Stefano and Fantuzzi, Cesare (2008) Transparency in Port-Hamiltonian-Based Telemanipulation. IEEE transactions on Robotics, 24 (4). pp. 903-910. ISSN 1552-3098

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Abstract:After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.
Item Type:Article
Copyright:© 2008 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/64992
Official URL:http://dx.doi.org/10.1109/TRO.2008.924941
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