Paper Info
Title
Transparency-Optimal Passivity Layer Design For Time-Domain Control Of Multi-Dof Haptic-Enabled Teleoperation
Abstract
This paper presents a novel optimization-based passivity control algorithm for haptic-enabled bilateral teleoperation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an existing time-domain scheme, ensuring optimal transparency of the interaction along subsets of the environment space which are preponderant for the given task, while preserving the energy bounds required for passivity. The involved optimization problem is convex and amenable to real-time implementation. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment.
Year
DOI
Venue
2018
10.1109/IROS.2018.8593443
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Time domain,Passivity,Teleoperation,Transparency (graphic),Task analysis,Computer science,Control engineering,Robot,Optimization problem,Haptic technology
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
6
Name
Order
Citations
PageRank
Olmo A. Moreno-Franco100.68
Joao Bimbo21359.92
Claudio Pacchierotti351944.36
Domenico Prattichizzo4106.34
Davide Barcelli521.73
Gianni Bianchini66510.42