Passivity Filters for Bilateral Teleoperation with Variable Impedance Control
Fadi Alyousef Almasalmah, Thibault Poignonec, Hassan Omran, Chao Liu, Bernard Bayle
Abstract
In robotic teleoperation, it is crucial to be able to dynamically adjust interactions with the environment. Drawing inspiration from human behavior during interactions, Variable Impedance Control (VIC) has been widely adopted to enhance robotic flexibility and adaptability. However, maintaining the passivity of such control systems remains a critical safety concern. This paper introduces an optimization-based framework for passive variable impedance control in bilateral teleoperation, combining the advantages of Passivity Filters (PFs), Time-Domain Passivity (TDP) control, and Passive-Set-Position-Modulation (PSPM). The method solves an optimization problem aimed at dissipating the energy that could lead to a lack of passivity. The proposed method is assessed through experiments, illustrating its ability to keep the teleoperation system passive and safe under a variable impedance profile.
BibTeX
@inproceedings{icra2025_passivityfilters,
title = {Passivity Filters for Bilateral Teleoperation with Variable Impedance Control},
author = {Fadi Alyousef Almasalmah and Thibault Poignonec and Hassan Omran and Chao Liu and Bernard Bayle},
booktitle = {ICRA 2025},
year = {2025}
}