Stability of bilateral teleoperators with generalized projection-based force reflection algorithms

Anderson, 1989, Bilateral control of teleoperators with time delay, IEEE Transactions on Automatic Control, AC-34, 494, 10.1109/9.24201 Burdet, 2001, The central nervous system stabilizes unstable dynamics by learning optimal impedance, Nature, 414, 446, 10.1038/35106566 Chopra, N., Spong, M. W., Hirche, S., & Buss, M. (2003). Bilateral teleoperation over the Internet: the time varying delay problem. In American control conference. Denver, CO. June. Fradkov, 1999 Hannaford, 1989, A design framework for teleoperators with kinesthetic feedback, IEEE Transactions on Robotics and Automation, 5, 426, 10.1109/70.88057 Hannaford, Blake, & Anderson, Robert (1988). Experimental and simulation studies of hard contact in force reflecting teleoperation. In Proceedings of the 1989 IEEE international conference on robotics and automation (pp. 584–589). Hogan, Neville (1989). Controlling impedance at the man/machine interface. In Proceedings of the IEEE conference on robotics and automation. Vol. 3. Scottsdale, AZ (pp. 1626–1631). Kawato, 1999, Internal models for motor control and trajectory planning, Current Opinion in Neurobiology, 718, 10.1016/S0959-4388(99)00028-8 Kuchenbecker, 2006, Induced master motion in force-reflecting teleoperation, ASME Journal of Dynamic Systems, Measurement, and Control, 128, 800, 10.1115/1.2364011 Lawrence, 1993, Stability and transparency in bilateral teleoperation, IEEE Transactions on Robotics and Automation, 9, 624, 10.1109/70.258054 Lee, Dongjun, & Huang, Ke (2008). Passive position feedback over packet-switching communication network with varying-delay and packet-loss. In Symposium on haptic interfaces for virtual environments and teleoperator systems 2008. Reno, NV, March. Lee, 2006, Passive bilateral control of teleoperators under constant time delay, IEEE Transactions on Robotics, 22, 269, 10.1109/TRO.2005.862037 Lin, Yuandan, Sontag, Eduardo, & Wang, Yuan (1995). Various results concerning set input-to-state stability. In Proceedings of the 34th conference on decision and control. New Orleans, LA. December (pp. 1330–1335). Niemeyer, 2008, Telerobotics, 1339 Niemeyer, Gunter, & Slotine, Jean-Jacques E. (1998). Towards force reflecting teleoperation over the Internet. In International conference on robotics and automation. Leuven, Belgium (pp. 1909–1915). Niemeyer, 2004, Telemanipulation with time delays, International Journal of Robotics Research, 23, 873, 10.1177/0278364904045563 Polushin, 2007, A force-reflection algorithm for improved transparency in bilateral teleoperation with communication delay, IEEE/ASME Transactions on Mechatronics, 12, 361, 10.1109/TMECH.2007.897285 Polushin, 2008, Projection-based force reflection algorithm for stable bilateral teleoperation over networks, IEEE Transactions on Instrumentation and Measurement, 57, 1854, 10.1109/TIM.2008.919874 Polushin, Ilia G., Liu, Peter X., & Lung, Chung-Horng (2009). Experimental studies of a teleoperator system with projection-based force reflection algorithms. In IEEE/RSJ international conference on intelligent robots and systems IROS 2009. St. Louis, Missouri. October (pp. 5127–5132). Polushin, Ilia G., Liu, Peter X., & Lung, Chung-Horng (2011). Human dynamics and stability of teleoperator systems with generalized projection-based force reflection algorithms. In 18th IFAC world congress. Milan, Italy (pp. 338–343). Polushin, 2009, A multichannel IOS small gain theorem for systems with multiple time-varying communication delays, IEEE Transactions on Automatic Control, 54, 404, 10.1109/TAC.2008.2009582 Ryu, Jee-Hwan, & Preusche, Carsten (2007). Stable bilateral control of teleoperators under time-varying communication delay: Time domain passivity approach. In 2007 IEEE international conference on robotics and automation (pp. 3508–3513). Sontag, 2006, Input-to-state stability: basic concepts and results, 163 Speich, John E., Fite, Kevin, & Goldfarb, Michael (2000). A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation. In Proceedings of the IEEE international conference on robotics and automation ICRA 2000. San Francisco, CA. April (pp. 2671–2676). Stramigioli, 2002, Geometric scattering in robotic telemanipulation, IEEE Transactions on Robotics and Automation, 18, 588, 10.1109/TRA.2002.802200 van der Schaft, 1999 Yokokohji, Yasuyoshi, Imaida, Takashi, & Yoshikawa, Tsuneo (1999). Bilateral teleoperation under time-varying communication delay. In IEEE/RSJ international conference on intelligent robots and systems. Kyongju, Korea (pp. 1854–1859).