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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)
—Passive velocity field control (PVFC) is a control methodology for fully actuated mechanical systems, in which the motion task is specified behaviorally in terms of a velocity field (as opposed to a timed trajectory), and the closed-loop system is passive with respect to a supply rate given by the environment power input. It is intended for safety critical(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)
—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)
— 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)
—The problem of stabilizing a single color tone reproduction curve of a xerographic printing engine is considered. This problem is critical to ensure high-fidelity color printing. The control system uses a small number of actuators and a small number of measurements to stabilize the potentially high-dimensional tone reproduction curve. The goal is to(More)
—This paper presents a passive bilateral feedforward control scheme for linear dynamically similar (LDS) teleoper-ated manipulators with kinematic scaling and power scaling. The proposed control law renders the teleoperator as a passive rigid mechanical tool with programmable apparent inertia to the human operator and the work environment by utilizing(More)
—We propose a passive bilateral teleoperation control law for a pair of-degree-of-freedom (DOF) nonlinear robotic systems. The control law ensures energetic passivity of the closed-loop teleoperator with power scaling, coordinates motions of the master and slave robots, and installs useful task-specific dynamics for inertia scaling, motion guidance, and(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)