Force tracking in impedance control
International Journal of Robotics Research
Feedback Control of Dynamic Systems
Feedback Control of Dynamic Systems
The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Model-mediated Telemanipulation
International Journal of Robotics Research
Robot multiple contact control
Robotica
Survey on bilateral teleoperation of mobile robots
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Model-reference based wave-variable force control
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Dual-master teleoperation control of kinematically redundant robotic slave manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An EMG-based robot control scheme robust to time-varying EMG signal features
IEEE Transactions on Information Technology in Biomedicine - Special section on new and emerging technologies in bioinformatics and bioengineering
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
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This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the effector of the slave robotic system. The active force control approach allows the desired motion and contact forces to be combined in a single force command. The required performance and robustness of force control are achieved by a full state reconstruction using a modified Kalman estimator, which addresses disturbances and modeling uncertainties. The performance of both telepresence and force control are further improved by on-line stiffness estimation of the object in contact with the effector. The redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.