The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Motivated by applications involving soft-tissue manipulation such as robotic surgery, the transparency objectives in bilateral teleoperation are redefined to include monotonic nonlinear and linear-time-invariant filter mappings between the master/slave position and force signals. To demonstrate the utility of the new performance measures, a stiffness discrimination telemanipulation task of soft environments...
This paper shows through faithfully deriving Paffian forms of 3D rolling contact constraints that 3D pinching can be stabilized by using a pair of robot fingers with a hemispherical soft tip and minimum degrees of freedom under the gravity effect. The proposed control input is based on fingers-thumb opposition without using object information or external sensing. Stability analysis of the closed-loop...
This paper proposes a control scheme for underactuated two-link robot called the pendubot. The controller achives to swing, and stabilize to its uppermost unstable equilibrium point, the second non-attracted link. The control law is designed and the convergence analysis is carried out based on Lyapunov stability theory. Swinging control is based on an kinetic energy approach and the passivity properties,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.