A Safety and Passivity Filter for Robot Teleoperation Systems

@inproceedings{Notomista2020ASA,
  title={A Safety and Passivity Filter for Robot Teleoperation Systems},
  author={Gennaro Notomista and Xiaoyi Cai},
  booktitle={HFR},
  year={2020}
}
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by combining safety and passivity constraints in a single optimization-based controller which effectively filters the desired control input before supplying it to the system. The result is a safety and passivity filter implemented as a convex quadratic program which… 

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