Keyvan Hashtrudi-Zaad

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A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture(More)
A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach t o e v aluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency are discussed.
Available passivity-based robust stability methods for bilateral teleoperation control systems are generally conservative, as they consider an unbounded range of dynamics for the class of passive operators and environments in the complex plane. In this paper, we introduce a powerful 3D geometrical robust stability analysis method based on the notions of(More)
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—In the majority of robotic and haptic applications, including manipulation and human–robot interaction, contact force needs to be monitored and controlled. Transparent implementation of bilateral teleoperation or haptic controllers necessitates the exchange of operator and environment contact forces. This requires the use of expensive commercially(More)