IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Extension of Colgate's passivity condition for variable-rate haptics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Passive-set-position-modulation framework for interactive robotic systems
IEEE Transactions on Robotics
Stability of bilateral teleoperators with generalized projection-based force reflection algorithms
Automatica (Journal of IFAC)
A small gain framework for networked cooperative force-reflecting teleoperation
Automatica (Journal of IFAC)
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We propose a novel framework - passive set-position modulation - which enables us to utilize the explicit position feedback over packet-switching communication network (e.g. Internet) with significant varying-delay and packet-loss, while enforcing energetic passivity at the same time. The proposed modulation framework is flexible (i.e. can accommodate varying data update-rate and intermediate data processing such as smoothing/reconstructuring); local and decentralizable (i.e. performance can be locally tuned without consulting other sides over the communication), thus, scalable; and relies only on the position signal, rather than often-inaccurate/noise-contaminated numerical integration/differentiation. We believe that this proposed passive set- position modulation would be useful for varying-rate haptics and bilateral teleoperation over the Internet.