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—Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field(More)
The majority of hydraulic systems are controlled using a metering valve or the use of variable displacement pumps. Metering valve control is compact and has a high control bandwidth, but it is energy inefficient due to throttling losses. Variable displacement pumps are far more efficient as the pump only produces the required flow, but comes with the cost(More)
—The AHS architecture of the California PATH program organizes traffic into platoons of closely spaced vehicles. A large relative motion between platoons can increase the risk of high relative velocity collisions. This is particularly true whenever platoons are formed or broken up by the join and split control maneuvers and by the decelerate to change lane(More)
The control of a bilateral teleoperated manipulator system is considered. The goal of the control are to i coordinate the motions of the two manipu-lators according to a predeened kinematic scaling, ii render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predeened natural dynamics,(More)
Abstnact-In this paper, a teleoperation controller Is proposed for a-pair of nonlinear master and slave manip ulators. The control law enables the nonlinear robots to be perfectly coordinated despite arbitrary environment and human forcings, while ensuring that the closed loop teleop erator system is passive with respect to a supply rate that includes a(More)
— A practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor is proposed. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the under-actuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion(More)
—In contour following applications, the various degrees of freedom of a mechanical system have to be well coordinated, but very often, the speed at which the contour is followed is not critical. Moreover, in the context of machining, the system has to interact closely with its physical environment. When the contour following task is represented by a(More)