@article { , title = {Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation}, abstract = {© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwidth of the slave robot motion controller cannot be increased with a conventional motion controller as the desired trajectory is instantaneously commanded by the human user and thus, cannot be considered to be given in a pre-computed, smooth second order derivative form. We propose a method to increase the command-following bandwidth by extending the previously introduced Successive Stiffness Increment (SSI) approach to bilateral teleoperation. The approach allows realizing a very high motion controller gain, which cannot be realized with a conventional bilateral teleoperation controller as confirmed by experimental results.}, conference = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)}, doi = {10.1109/IROS.2018.8593866}, eissn = {2153-0866}, isbn = {9781538680940}, issn = {2153-0866}, journal = {IEEE International Conference on Intelligent Robots and Systems}, pages = {4972-4979}, publicationstatus = {Published}, url = {https://uwe-repository.worktribe.com/output/859053}, keyword = {Bristol Robotics Laboratory, bilateral teleoperation, stability, control, robotics}, year = {2018}, author = {Singh, Harsimran and Jafari, Aghil and Ryu, Jee Hwan and Peer, Angelika} }