Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-Free Approach
Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-Free Approach
Convex Optimization
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
IEEE Transactions on Haptics
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Experimental Internet Haptic Collaboration using Virtual Coupling Schemes
HAPTICS '08 Proceedings of the 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Passive set-position modulation approach for haptics with slow, variable, and asynchronous update
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
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
Sampled- and continuous-time passivity and stability of virtual environments
IEEE Transactions on Robotics
Sampled Data Systems Passivity and Discrete Port-Hamiltonian Systems
IEEE Transactions on Robotics
A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller
IEEE Transactions on Robotics
Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators
IEEE Transactions on Robotics
Effects of position quantization and sampling rate on virtual-wall passivity
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
Tracking for fully actuated mechanical systems: a geometric framework
Automatica (Journal of IFAC)
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
Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays
IEEE Transactions on Robotics
A passivity-based decentralized strategy for generalized connectivity maintenance
International Journal of Robotics Research
International Journal of Automation and Computing
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In this paper, we propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuous-time) robot's position to a sequence of slowly updating/sparse (discrete-time) set-position signal via the simple (yet frequently used in practice) spring coupling with damping injection, while enforcing passivity of the closed-loop robotic system. The PSPM modulates the original set-position signal in such a way that themodulated signal is as close to the original signal as possible (i.e., maximum information recovery for better performance), yet only to the extent permissible by the available energy in the system (i.e., passivity constraints). We present its algorithm and theoretically show its passivity and performance. We also show how this PSPM can be applied for two applications, with some experimental results: Internet teleoperation with varying delay and packet loss; and haptics with slow and variable-rate data update.