Matrix analysis
Adaptive control of mechanical manipulators
International Journal of Robotics Research
Linear system theory (2nd ed.)
Linear system theory (2nd ed.)
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Presence: Teleoperators and Virtual Environments
Coordinated and Force-Feedback Control of Hydraulic Excavators
The 4th International Symposium on Experimental Robotics IV
Issues in the haptic display of tool use
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Virtual fixtures for bilateral telemanipulation
Virtual fixtures for bilateral telemanipulation
Human performance evaluation of manipulation schemes in virtual environments
VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
Vision-assisted control for manipulation using virtual fixtures
IEEE Transactions on Robotics
Open-loop bilateral teleoperation for stable force tracking
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
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Pseudo-admittance is introduced as a novel bilateral telemanipulation system that is designed to mimic proportional-velocity admittance control on systems where the master is an impedance-type robot. The controller generalizes to systems with slave robots of the impedance or admittance type. Pseudo-admittance uses a proxy with admittance dynamics combined with direct force feedback from the slave, resulting in unique properties that mimic admittance control and exhibit tremor attenuation and quasi-static transparency. Pseudo-admittance control has potential benefits for tasks that require better-than-human levels of precision, as well as with systems that are typically run under rate control. The controller can also be modified to include virtual fixtures that provide guidance during task execution, while leaving ultimate control of the system with the operator. Guidance virtual fixtures could be used as macros that increase both speed and precision on structured tasks that require direct human control. The properties of the system are verified through simulations and experiments.