The Effects of Simulated Inertia and Force Prediction on Delayed Telepresence
Presence: Teleoperators and Virtual Environments
Robot multiple contact control
Robotica
Identification of contact dynamics parameters for stiff robotic payloads
IEEE Transactions on Robotics
Video game device haptic interface for robotic arc welding
HSI'09 Proceedings of the 2nd conference on Human System Interactions
Motion compensation for robotic-assisted surgery with force feedback
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Tissue property estimation and graphical display for teleoperated robot-assisted surgery
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Extended active observer for force estimation and disturbance rejection of robotic manipulators
Robotics and Autonomous Systems
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This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured, desired, and estimated forces) is proposed, avoiding explicit position information. Stability and robustness to stiffness errors are discussed, as well as real-time adaptation techniques. Telepresence is analyzed. Experiments show high performance in contact with soft and hard surfaces