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.
Pasadena International Conference Center. ICRA 2008 workshop
| 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 table | New 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
|
