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Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential non-passivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleoperation...
A lunar roving vehicle (LRV) is an important and indispensable detection tool that can not only transport astronauts a long distance from the lunar module but also ensures their safety when moving around the lunar surface. Thus, it is very important to train astronauts to drive the LRV on Earth. However, astronauts will experience different properties and driving sensations for the same vehicle owing...
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