Adaptive impedance control in haptic teleoperation to improve transparency under time-delay

@article{Tzafestas2008AdaptiveIC,
  title={Adaptive impedance control in haptic teleoperation to improve transparency under time-delay},
  author={Costas S. Tzafestas and Spyros Velanas and George Fakiridis},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={212-219}
}
This paper proposes the application of an adaptive impedance control scheme to alleviate some of the problems associated with the presence of time delays in a haptic teleoperation system. Continuous on-line estimation of the remote environment's impedance is performed, and is then used as a local model for haptic display control. Lyapunov stability of the proposed impedance adaptation law is demonstrated. A series of experiments is performed to evaluate the performance of this teleoperation… CONTINUE READING
Highly Cited
This paper has 45 citations. REVIEW CITATIONS
30 Citations
9 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 30 extracted citations

References

Publications referenced by this paper.
Showing 1-9 of 9 references

N

  • C. S. Tzafestas
  • K. M’Sirdi and N. Manamani, “Adaptive Impedance…
  • 1997
1 Excerpt

Asymptotic Stability for Force Reflecting Teleoperators ” , Intern

  • C. J. Harris, M. W. Spong
  • Journal of Robotics Research
  • 1985

Teleoperation and Robotics Vol 3A - Evolution and Development

  • J. Vertut, P. Coiffet
  • Kluwer Academic Publishers
  • 1985
1 Excerpt

Similar Papers

Loading similar papers…