Smrithi Thudi — accepted AI-conference papers

2021

Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction

RA-L 2021

In this letter, we propose a novel adaptive iterative stabilization method for physical human-(tele)robot interaction, named Discrete Windowed-Energy Variable Structure Passivity Signature Control (DWE-VSPSC). The proposed stabilizer is capable of adaptively translating the knowledge domain regardin

Cited by 8 Source ↗Scholar ↗

2021

Time-Domain Passivity-based Controller with an Optimal Two-channel Lawrence Telerobotic Architecture

Navid Feizi, Smrithi Thudi, Rajni V. Patel, S. Farokh Atashzar

ICRA 2021poster

The time-domain passivity approach has been proposed in the literature in a variety of formats to guarantee the stability of teleoperation leader-follower systems. The conventional use of the proposed technique utilizes the control effort at the follower side as the force feedback to be sent back to…

Cited by 3 Source ↗Scholar ↗