Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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    39 Citations (Scopus)
    82 Downloads (Pure)

    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
    Original languageUndefined
    Title of host publicationProceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Pages4211-4216
    Number of pages6
    ISBN (Print)1-4244-0259-X
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
    Duration: 9 Oct 200615 Oct 2006

    Publication series

    Name
    PublisherIEEE
    Number11

    Conference

    Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    Abbreviated titleIROS
    CountryChina
    CityBeijing
    Period9/10/0615/10/06

    Keywords

    • CE-Advanced Robotics
    • METIS-248253
    • EWI-12678
    • IR-62284

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