Micro-macro multilateral teleoperation through scaled information flow

In this paper we introduce scaled consensus algorithms for scaled cooperative teleoperation using multiple robots. First we show basic results about scaled consensus algorithms, and then derive the scaled acceleration and haptic consensus algorithms necessary for scaled teleoperation on a network, by scaling the information flow on the network. We show that with the new method it is possible to realize a completely distributed control, that can be employed on flexible networks. The method is then applied to micro-macro teleoperation systems with multiple robots. Experiments with different size robots verify our claims.