Position Tracking for Non-linear Teleoperators with Variable Time Delay
International Journal of Robotics Research
Brief paper: An adaptive controller for nonlinear teleoperators
Automatica (Journal of IFAC)
Nonlinear bilateral teleoperation: stability analysis
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Asymptotic stability of teleoperators with variable time-delays
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Delay-dependent stability analysis of teleoperation systems with unsymmetric time-varying delays
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A time-varying wave impedance approach for transparency compensation in bilateral teleoperation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bilateral teleoperation systems using genetic algorithms
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays
IEEE Transactions on Robotics
Passivity-based control for bilateral teleoperation: A tutorial
Automatica (Journal of IFAC)
New stability criteria for networked teleoperation system
Information Sciences: an International Journal
Control of semi-autonomous teleoperation system with time delays
Automatica (Journal of IFAC)
Coordination control for bilateral teleoperation with kinematics and dynamics uncertainties
Robotics and Computer-Integrated Manufacturing
International Journal of Automation and Computing
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In a recent scheme, with delayed derivative action [Lee and Spong, IEEE Trans. Robot., vol. 22, no. 2, pp. 269--281, Apr. 2006], it is claimed that a simple proportional derivative (PD) scheme yields a stable operation. Unfortunately, the stability proof hinges upon unverifiable assumptions on the human and contact environment operators, namely, that they define Linfin-stable maps from velocity to force. In this short paper, we prove that it is indeed possible to achieve stable behavior with simple PD-like schemes-even without the delayed derivative action-under the classical assumption of passivity of the terminal operators.