2018
Transparency-Optimal Passivity Layer Design for Time-Domain Control of Multi-DoF Haptic-Enabled Teleoperation
Olmo A. Moreno Franco, Joao Bimbo, Claudio Pacchierotti, Domenico Prattichizzo, Davide Barcelli, Gianni Bianchini
IROS 2018poster
This paper presents a novel optimization-based passivity control algorithm for haptic-enabled bilateral teleoperation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an ex…