Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller
(2019)
Presentation / Conference
Singh, H., Jafari, A., & Ryu, J. (2019, May). Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller. Paper presented at The 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada
Passivity has been the most often used constraint for the stable controller design of bilateral teleoperation systems. Especially, Time Domain Passivity Approach (TDPA) has been used in many applications since it has been known as one of the least co... Read More about Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller.