Bridging the gap between passivity and transparency

Michel Franken; Stefano Stramigioli; Rob Reilink; Cristian Secchi; Alessandro Macchelli

doi:10.15607/RSS.2009.V.036

Bridging the gap between passivity and transparency

Michel Franken, Stefano Stramigioli, Rob Reilink, Cristian Secchi, Alessandro Macchelli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

23 Citations (Scopus)

335 Downloads (Pure)

Abstract

In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.

Original language	English
Title of host publication	Robotics: Science and Systems 2009
Subtitle of host publication	Seattle, Washington, USA
Publisher	Robotics Science and Systems
Pages	36
Number of pages	8
ISBN (Print)	978-1-57735-183-2
DOIs	https://doi.org/10.15607/RSS.2009.V.036
Publication status	Published - 1 Jul 2009
Event	Robotics: Science and Systems V, 2009 - Seattle, United States Duration: 28 Jun 2009 → 1 Jul 2009

Conference

Conference	Robotics: Science and Systems V, 2009
Country/Territory	United States
City	Seattle
Period	28/06/09 → 1/07/09

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10.15607/RSS.2009.V.036Licence: CC BY

ArticleFinal published version, 519 KBLicence: CC BY

Cite this

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title = "Bridging the gap between passivity and transparency",

abstract = "In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.",

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AU - Franken, Michel

AU - Stramigioli, Stefano

AU - Reilink, Rob

AU - Secchi, Cristian

AU - Macchelli, Alessandro

PY - 2009/7/1

Y1 - 2009/7/1

N2 - In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.

AB - In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest trans- parency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.

U2 - 10.15607/RSS.2009.V.036

DO - 10.15607/RSS.2009.V.036

M3 - Conference contribution

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BT - Robotics: Science and Systems 2009

PB - Robotics Science and Systems

T2 - Robotics: Science and Systems V, 2009

Y2 - 28 June 2009 through 1 July 2009

ER -

Bridging the gap between passivity and transparency

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