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A Feasibility Study of Rate-Mode Mobile Robot Bilateral Teleoperation with Time Domain Passivity Approach

  • Ha Van Quang
  • Jee-Hwan Ryu
  • Youngdo Kwon
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)

Abstract

In this paper, time domain passivity approach is extended for stable rate mode bilateral teleoperation, which often violate closed-loop passivity. Recently proposed energy based framework is implemented to make the closed-loop system passive under variable time-delay. A rate mode teleoperation experiment with mobile robot is conducted to show the feasibility of the proposed idea. Rate mode teleoperation with proposed idea showed much better performance than without case in many aspects.

Keywords

teleoperation haptic rate mode passivity time domain passivity mobile robot 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.School of Mechanical EngineeringKorea University of Technology and EducationCheonan-CityR. of Korea
  2. 2.Future IT Research CenterSamsung Advanced Institute of TechnologyYongin-CityR. of Korea

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