Stable haptic interaction control using energy bounding algorithm

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1210-1217

  Kim, Jong Phil ^a   Ryu, Jeha ^a  

^a Gwangju Institute of Science and Technology (GIST)   (South Korea)

Author keywords

Haptic; Passivity; Stability

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTER SIMULATION; CONTROL EQUIPMENT; ENERGY UTILIZATION; MANIPULATORS; ROBOTICS; SYSTEM STABILITY; VIRTUAL REALITY;

ENERGY BOUNDING ALGORITHMS; HAPTIC DEVICES; HAPTIC SIMULATION SYSTEM; PASSIVITY CONTROL;

HAPTIC INTERFACES;

EID: 14044260058     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. nd1 Edi, Wiley Interscience, 2003
2. L. E. Colgate, M. C. Stanley, J. M. Brown, "Issues in the Haptic Display of Tool Use," Proc. IEEE/RSJ Int. Conf. On Intelligent Robotics and Systems, Pittsburgh, PA, 1995, pp. 140-145.
3. J. E. Colgate and G. G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," J. Robot Syst., vol. 14, no. 1, pp. 37-47, 1997.
4. J. E. Colgate and J. M. Brown, "Factors affecting the Z-width of a Haptic display," in Proc. IEEE Int. Conf. Robot Automat, Los Alamitos, CA, 1994, pp. 3205-3210.
5. R. J. Adams and B. Hannaford, "Stable Haptic Interaction with Virtual Environments," IEEE Trans. Robot. Automat, vol. 15, no. 3, pp. 465-474, 1999.
6. B. Hannaford, J. H. Ryu, "Time Domain Passivity Control of Haptic Interfaces," IEEE Transactions on Robotics and Automation, vol. 18, pp. 1-10, February, 2002.
7. Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford, "Sampled and Continuous Time Passivity and Stability of Virtual Environments," IEEE Int Conf. on Robotics & Automation 2003, Taipei, Taiwan, Sept. 2003.
8. R. Brent Gillespie and M. R. Cutkosky, "Stable User-Specific Haptic Rendering of the Virtual Wall," Proc. of International Mechanical Engineering Congress and Exhibition, Atlanta, GA, DSC, 1996, Vol. 58, pp. 397-406
9. S. Stramigioli, C. Secchi, A. J. van der Schaft, and C. Fantuzzi, "A Novel Theory for Sample Data System Passivity", IROS 2002, Lausanne, Switzerland, 2002
10. N. Hogan, "Controlling Impedance at the Man Machine," Proc. IEEE Int. Conf. Robot. Automat, Scottsdale, AZ, 1989, pp. 1626-1631.
11. Lee, D. Y. and Lee, M. H. "Stability of Haptic Interface Using Nonlinear Virtual Coupling.", IEEE Int. Conf. Syst. Man Cybern, Vol.4, pp. 3420-3424, 2003