The DOI matches its Crossref record; 16 of the 16 references it cites were found in a registry or an index.
Stable Teleoperation With Time-Domain Passivity Control
Abstract
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness >150 kN/m) and hard surface following.
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Cites
Dissipative dynamical systems part I: General theory
Willems, J. C. (1972) · Archive for Rational Mechanics and Analysis · doi:10.1007/bf00276493 · Cited by 3,250
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Desoer, C. A., Vidyasagar, M., & Willson, A. N. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426967 · Cited by 3,225
Stability and transparency in bilateral teleoperation
Lawrence, D. A. (1993) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.258054 · Cited by 2,061
L2-Gain and Passivity Techniques in Nonlinear Control
van der Schaft, A. J. (2016) · Communications and control engineering/Communications and control engineering series · doi:10.1007/978-3-319-49992-5 · Cited by 2,039
Niemeyer, G., & Slotine, J.-J. E. (1991) · IEEE Journal of Oceanic Engineering · doi:10.1109/48.64895 · Cited by 1,407
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
A design framework for teleoperators with kinesthetic feedback
Hannaford, B. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88057 · Cited by 926
Self-citationTime-domain passivity control of haptic interfaces
Hannaford, B., & Ryu, J.-H. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988969 · Cited by 767
Self-citationStable haptic interaction with virtual environments
Adams, R. J., & Hannaford, B. (1999) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.768179 · Cited by 646
Self-citationPassivity of a class of sampled-data systems: Application to haptic interfaces
Colgate, J. E., & Schenkel, G. G. (1997) · Journal of Robotic Systems · doi:10.1002/(sici)1097-4563(199701)14:1<37::aid-rob4>3.0.co;2-v · Cited by 490
Cited by
Synchronization of bilateral teleoperators with time delay
Chopra, N., Spong, M. W., & Lozano, R. (2008) · Automatica · doi:10.1016/j.automatica.2007.12.002 · Cited by 337
Toward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Metadata
- Authors
- Ryu, J.-H., Kwon, D.-S., & Hannaford, B.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2004-04
- Volume
- 20
- Issue
- 2
- Pages
- 365-373
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2099914424
- Cited by
- 393
- References
- 16
- FWCI
- 67.74
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ryu, J.-H., Kwon, D.-S., & Hannaford, B. (2004). Stable Teleoperation With Time-Domain Passivity Control. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2004.824689
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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