2021
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation
Filippo Loschi, Nicola Piccinelli, Diego Dall’Alba, Riccardo Muradore, Paolo Fiorini, Cristian Secchi
ICRA 2021poster
In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. D…