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Transparency-optimal passivity layer design for time-domain control of multi-DoF haptic-enabled teleoperation

Abstract : This paper presents a novel optimization-based passivity control algorithm for haptic-enabled bilateral tele-operation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an existing time-domain scheme, ensuring optimal transparency of the interaction along subsets of the environment space which are preponderant for the given task, while preserving the energy bounds required for passivity. The involved optimization problem is convex and amenable to real-time implementation. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment.
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https://hal.inria.fr/hal-01851708
Contributor : Claudio Pacchierotti <>
Submitted on : Monday, July 30, 2018 - 4:43:17 PM
Last modification on : Friday, July 10, 2020 - 4:20:55 PM
Long-term archiving on: : Wednesday, October 31, 2018 - 2:37:33 PM

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  • HAL Id : hal-01851708, version 1

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Olmo Moreno Franco, Joao Bimbo, Claudio Pacchierotti, Domenico Prattichizzo, Davide Barcelli, et al.. Transparency-optimal passivity layer design for time-domain control of multi-DoF haptic-enabled teleoperation. IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.1-7. ⟨hal-01851708⟩

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