Saeed Shiri Ghydari

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– Some adaptive control schemes was suggested for Teleoperation systems. These schemes are based on environment impedance estimation which has abrupt changes. In this paper, estimation loop is applied to identify just gradual variations in the slave robot dynamic. Then the required data for compensating environment changes are explored through accurate(More)
– In this paper a new approach is developed that increases transparency in bilateral teleoperation. We define a stiffness observer which detects hard contact instant by analyzing the generated force in the slave side to activate a passivity controller. This approach uses passivity based idea of monitoring energies flowing in and out of the teleoperator. It(More)
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