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Adaptive wave variables for bilateral teleoperation using neural networks

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Abstract

Stability and transparency determine the performance of bilateral teleoperation systems. Previous studies on passivity-based control focused on stability such that the results of the study are robust in terms of the time delay issue. But there are not sufficient studies on performance analysis based on environmental elements related to transparency. This paper suggests an adaptive wave transformation system where stability is secured by controlling characteristic impedance in the existing wave variables system adaptively according to time delay and environmental elements and simultaneously ensuring a proper dynamic performance depending on external force. Neural network was utilized to design the system that enables controlling the characteristic impedance depending on external factors such as time delay and comparison with the existing wave variables.

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Acknowledgments

This work was partially supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (no. 2013-009458) and (no. 2013-068127) and Honam Regional Leading Research Project (no. G02A00460046602).

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Authors and Affiliations

  1. Department of Electrical Engineering, Seo Nam University, Namwon City, 561-756, South Korea

    Sung Goo Yoo

  2. Department of Electronics Engineering, Jeonbuk National University, Jeonju City, 561-756, South Korea

    Kil To Chong

  3. Advanced Research Center for Electronics and Information, Jeonbuk National University, Jeonju City, 561-756, South Korea

    Kil To Chong

Authors
  1. Sung Goo Yoo
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  2. Kil To Chong
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Correspondence to Kil To Chong.

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Yoo, S.G., Chong, K.T. Adaptive wave variables for bilateral teleoperation using neural networks. Neural Comput & Applic 25, 1249–1262 (2014). https://doi.org/10.1007/s00521-014-1606-0

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  • DOI: https://doi.org/10.1007/s00521-014-1606-0

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