Mun-Hooi Khong

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Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we(More)
This paper presents the experimental validation of a multiple mobile robot system with human-in-the-loop coordination. It has been proposed that the control framework for networked autonomous robots can be augmented by artificial functions for task abstraction, so that a human operator is able to operate a group of robots remotely. By utilizing the(More)
In this paper, we have introduced the development of a low-cost and light-weight three-axes force sensor to be used under small loading forces. The proposed sensor was able to measure applied force by simply using single-axis contact sensors. The force sensor is a combination of 3D printed rigid parts, contact force sensors, signal transmitters, and an(More)
The control problem for bilateral teleoperation systems using only one controller is studied in this paper. In the proposed control framework, the remote robot transmits position/velocity signals to the controller located with the local robot. The corresponding control inputs for local and remote robots are obtained from the same controller. The individual(More)
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