@inproceedings{5bcc9cbeb5a0414582af3a1705aed3c7,
title = "Position Drift Compensation in Port-Hamiltonian Based Telemanipulation",
abstract = "Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator",
keywords = "CE-Advanced Robotics, METIS-248253, EWI-12678, IR-62284",
author = "Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi",
note = "10.1109/IROS.2006.281915 ; null ; Conference date: 09-10-2006 Through 15-10-2006",
year = "2006",
doi = "10.1109/IROS.2006.281915",
language = "Undefined",
isbn = "1-4244-0259-X",
publisher = "IEEE",
number = "11",
pages = "4211--4216",
booktitle = "Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}