Robotics and Autonomous Systems
Perception-centric force scaling function for stable bilateral interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Internal dissipation in passive sampled haptic feedback systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm
International Journal of Robotics Research
Passive-set-position-modulation framework for interactive robotic systems
IEEE Transactions on Robotics
Digital control of multiple discrete passive plants over networks
International Journal of Systems, Control and Communications
A passivity approach for model-based compositional design of networked control systems
ACM Transactions on Embedded Computing Systems (TECS)
Bilateral control by state convergence based on transparency for systems with time delay
Robotics and Autonomous Systems
Robustness of nonlinear systems with respect to delay and sampling of the controls
Automatica (Journal of IFAC)
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In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.