ICRA 2008 Workshop

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Title: New Vistas and Challenges in Telerobotics

Telerobotics is perhaps one of the oldest fields in robotics research. From its modest beginning in 1940's when the first teleoperator was designed till the 1980’s the focus was on primarily on nuclear, aerospace and underwater applications. The advent of modern communications in the last two decades has lead to the emergence of new applications such as telesurgery, semi-autonomous telerobotics, live power line maintenance and robotics education. On the other hand, advances in bilateral controllers are the key points for master-slaves architectures, which are important in precise telemanipulation tasks. This pervasive interest has spawned the development of new controllers, estimation techniques, synchronization algorithms and new communication protocols, etc. for bilateral teleoperation. This workshop will bring together renowned experts working in emerging research directions to discuss recent advances, challenges and open problems in the field.

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Chairs

Nikhil Chopra, Angelika Peer, Cristian Secchi and Manuel Ferre

Date

5/20/2008

Place

Pasadena International Conference Center. ICRA 2008 workshop

Main results in numbers

  • 60 participants
  • 6 invited lectures
  • 4 long oral presentations
  • 14 posters with short oral presentations
  • 18 papers included in the workshop proceedings

Programme

Time Session Speaker Title
9.00 - 9.10 Welcome and Opening Remarks Nikhil Chopra
9.10 -10.40 Invited Talks, chair: Nikhil Chopra Martin Buss Introduction to Research Issues in Telerobotics
Jaydev Desai Teleoperated Model-based control approach with force feedback interface for micro and macro manipulation tasks
Stefano Stramigioli Port Hamiltonian Based Telemanipulation
10.40 - 11.00 Coffee break
11.00 -12.20 Oral Session, chair: Manuel Ferre Emmanuel Nuño, Luis Basañez, Romeo Ortega and Mark W. Spong On the Asymptotic Zero-Convergence of Position Error for Teleoperated Robots with Variable Time-Delay
Debora Botturi, Paolo Fiorini, Stefano Galvan, M. Vicentini, Cristian Secchi Perceptual Issues from Haptics (Should) Improve Bilateral Teleoperation Models - A Force Dependent Scaling for Improving the Human Perception in Bilateral Teleoperation
Bert Willaert, Emmanuel Vander Poorten, Dominiek Reynaerts and Hendrik Van Brussel Reliable Stiffness Reflection for Telesurgery
Zhen Xiu, Ato Kitagawa, Hideyuki Tsukagoshi, Canghai Liu and Ken-ichiro Konishi An Internet-based Tele-rehabilitation System With Scattered Multiple Stay-home Patients
12.20 - 13.00 Round tableNew Vistas and Challenges in Telerobotics
13.00 - 14.00 Lunch
14.00 - 15.00 Invited Talks, chair: Cristian Secchi Blake Hannaford Telesurgery via Internet
15.00 - 15.50 Poster presentation, chair: Angelika Peer, procedure: see below Thomas Delwiche and Michel Kinnaert Observer-Based Friction Compensation System for Teleoperation
Antonio Bocos, Felipe Espinosa, Marcelo Salazar and Fernando Valdés Compensation of Channel Packet Dropout Based on TVKF Optimal Estimator for Robotics Teleoperation
Rebecca Kokes, Kevin Lister, Rao Gullapalli, Bao Zhang, Howard Richard and Jaydev P. Desai Towards a MRI-Compatible Robot for Radiofrequency Ablation of Tumors under Continuous Imaging
Nikolay Stefanov, Ulrich Unterhinninghofen, and Martin Buss Force Based Collaboration Measure for Object Handling Tasks
Alberto Valero, Fernando Matia, Massimo Mecella and Daniele Nardi Pro-active Interaction for Semi-autonomous Mobile Robots: Introducing the Task Allocation Service
Gregg Podnar, John Dolan, Alberto Elfes and Marcel Bergerman Multi-Level Autonomy Robot Telesupervision
Daniela Feth, Angelika Peer, and Martin Buss Human haptic interaction in multi-user telepresence scenarios
Mohsen Mahvash and Pierre Dupont Bilateral Teleoperation of Flexible Surgical Robots
Felipe Espinosa, Marcelo Salazar, Antonio Bocos, Fernando Valdés and Roberto Iglesias Design and Implementation of a Communication Architecture based on Player/Stage for Telerobotics Operation of P3-DX units
Ganesh Sankaranarayanan and Blake Hannaford Experimental Comparison of Internet Haptic Collaboration with Time-Delay Compensation Techniques
Angelika Peer and Martin Buss Robust Stability Analysis of Bilateral Teleoperation Architectures for Admittance Type Devices
Raul Wirz, Manuel Ferre, Raul Marín, Jorge Barrio, José M. Claver and Javier Ortego Efficient Transport Protocol for Bilateral Teleoperation
Nikhil Chopra Synchronization of Bilateral Teleoperators using Bounded Coupling Controls
Manuel Ferre, Rafael Aracil and Miguel A. Sánchez-Urán Stereoscopic Video Systems for Advanced Telerobotic Interfaces
15.50 - 16.10 Coffee break + poster session
16.10 - 17.40 Invited Talks, chair: Nikhil Chopra Claudio Melchiorri Enhancement of teleoperation schemes with (online) remote environment estimation
William Hamel Telerobotics in Nuclear Applications
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