Motion synchronization in virtual environments with shared haptics and large time delays

Joono Cheong (1) , Silviu-Iulian Niculescu (2) , A. Annaswamy (3) , M.A. Srinivasan (4)

1 MIT-MECHE - Department of Mechanical Engineering [Massachusetts Institute of Technology]
2 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
3 MIT - Massachusetts Institute of Technology
4 UCL-CS - Department of Computer science [University College of London]

This paper deals with a synchronization scheme to achieve a high level of consistency in peer-to-peer based virtual environments (VEs) for shared haptics with large time delays. We mainly focus on the VEs with dynamic objects that show physically realistic behaviors. The synchronization scheme utilizes an advanced feedback controller to compensate for the state error between geographically separated sites. Using feedback control theory of time delay systems, the controller is shown to result in closed loop stability and robust to perturbations in the time delay. The maximum allowable delay is determined using stability analysis, which indicates the allowable bound on the communication delay for the system. © 2005 IEEE.

Mots clés: Closed loop control systems; Delay control systems; Feedback; Feedback control; Haptic interfaces; Remote control; Robust control; Synchronization; System stability; Virtual reality; Closed loop stability; Communication delays; Feedback controller; Large time delay; Level of consistencies; Stability analysis; Synchronization scheme; Time-delay systems; Time delay

Domaines: Automatique / Robotique

Joono Cheong, Silviu-Iulian Niculescu, A. Annaswamy, M.A. Srinivasan. Motion synchronization in virtual environments with shared haptics and large time delays. 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - World Haptics Conference, WHC 2005, Mar 2005, Pisa, Italy. pp.277-282, ⟨10.1109/WHC.2005.95⟩. ⟨hal-02294298⟩