Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction

@article{Ryu2007FrequencyDS,
  title={Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction},
  author={Dongseok Ryu and Jae-Bok Song and Junho Choi and Sungchul Kang and Munsang Kim},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={105-110}
}
Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates… CONTINUE READING
Highly Cited
This paper has 27 citations. REVIEW CITATIONS
10 Citations
9 References
Similar Papers

Citations

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

References

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

Burdea , Force and touch feedback for virtual reality

  • C. Grigore
  • Numerical Recipes in C : The Art of Scientific…
  • 1992

Reinforcement learning, Kluwer Academic Publishiers, reprinted from Machine learning

  • Richard S. Sutton
  • 1992
1 Excerpt

Similar Papers

Loading similar papers…