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In this paper, the Bounded Environment Passivity method is applied to a 3-channel controller. This method enables the design of teleoperation controllers that show passive behaviour for interactions with a bounded range of environments.The resulting tuning guidelines, derived analytically, provide interesting tuning flexibility, which allows to focus on different aspects of transparency. As telesurgery...
This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation controllers, that show good performance and where many...
A first step towards truly versatile robot assistants consists of building up experience with simple tasks such as the cooperative manipulation of objects. This paper extends the state-of-the-art by developing an assistant which actively cooperates during the point-to-point transportation of an object. Besides using admittance control to react to interaction forces generated by its operator, the robot...
This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm". By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible),...
In the quest for a robot arm, which is capable of mechanical interaction with humans, biology can be a good source of inspiration. After all, the human arm is the best example of such a manipulator. A comparison between the human movement apparatus and an industrial robot arm reveals the most important criteria: the actuators of a human-like robot arm should have high compliance, no dry friction and...
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