Related papers: Robust High-Transparency Haptic Exploration for De…
Integrated sensing and communication (ISAC) is a key feature of next-generation wireless networks, enabling a wide range of emerging applications such as vehicle-to-everything (V2X) and unmanned aerial vehicles (UAVs), which operate in…
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…
This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral…
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…
Telerobotics is a key foundation in autonomous Industrial Cyber-Physical Systems (ICPS), enabling remote operations across various domains. However, conventional cloud-based telerobotics suffers from latency, reliability, scalability, and…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Connected teleoperated robotic systems play a key role in ensuring operational workflows are carried out with high levels of accuracy and low margins of error. In recent years, a variety of attacks have been proposed that actively target…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Frequency restoration in power systems is conventionally performed by broadcasting a centralized signal to local controllers. As a result of the energy transition, technological advances, and the scientific interest in distributed control…
Integrated sensing and communication (ISAC) systems provide significant enhancements in performance and resource efficiency compared to individual sensing and communication systems, primarily attributed to the collaborative use of wireless…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…