Keyvan Hashtrudi-Zaad

Learn More
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)
q„stR}s„‚t $js‚„sj q‚j‚B}‚„s$Bt ZtI‚„ _BR$$Bt stI is‚ ]Bt„Bj 7‚}$8$Z e 7sj{ZI‚st $t YZ G‚tT<Bt YZ €‚k%st <sRY„ZI$TssI *‚}s„8‚t BP ej‚{„${sj m ]B8}Z‚„ et$t‚‚„$t =t$%‚„R$k BP „$$RY ]BjZ8A$s 1nxE s$t sjj zst{BZ%‚„ ] ]stsIs zEq d; BP Y‚ R$8}j${$k BP Y‚ „‚JZ$„‚I {Bt„Bjj‚„ ]B„„‚R}BtI$t `B$t R‚„%BR A‚b‚‚t Y‚ 8sR‚„ stI Y‚ Rjs%‚ b‚„‚ $‚I B‚Y‚„ Y„BZY ‚j‚{„${sj 8‚stR(More)
—Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents supporting(More)