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—In this paper, the problem of online estimation of the mechanical impedance during the contact of a robotic system with an unknown environment is considered. This problem is of great interest when controlling a robot in an unstructured and unknown environment, such as in telemanipulation tasks, since it can be easily shown that the exploitation of the(More)
The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Preface This book deals with the problems related to planning motion laws and tra-jectories(More)
Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate and quantization of position measurements interact with the inertia, natural viscous, and Coulomb(More)
— The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of(More)
—In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical,(More)
— Physical human-robot interaction requires the development of safe and dependable robots. This involves the mechanical design of lightweight and compliant manipula-tors and the definition of motion control laws that allow to combine compliant behavior in reaction to possible collisions, while preserving accuracy and performance of rigid robots in free(More)
— The time domain passivity framework is attracting interest as a method for granting stability in both telerobotics and haptic contexts; this paper employs this approach in order to introduce a novel concept, the Bilateral Energy Transfer for haptic telepresence. Loosely speaking, the Bilateral Energy Transfer is the straightforward transfer of energy(More)
— We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch(More)