Environment estimation in teleoperation systems

Springer Tracts in Advanced Robotics

Volumn 31, Issue , 2007, Pages 211-231

  Biagiotti, Luigi ^a   Melchiorri, Claudio ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 34547963738     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-540-71364-7_14     Document Type: Article

References (28)

1. P. Arcara and C. Melchiorri. MISTRAL: Methodologies and Integration of Subsystems and Technologies for Anthropic Robots and Locomotion, chapter Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay. Springer-Verlag, 2003.
2. J.E. Colgate. Robust impedance shaping telemanipulation. IEEE Transactions on Robotics and Automation, 9(4), 1993.
3. S. Hirche and M. Buss. Passive position controlled telepresence systems with time delay. In American Control Conference, volume 1, Denver, USA 2003.
4. D. Erickson, M. Weber, and I. Sharf. Contact stiffness and damping estimation for robotic systems. Int. Jour. of Robotic Research, vol. 22, 2003.
5. K.H. Hunt and F.R.E. Crossley. Coefficient of restitution interpreted as damping in vibroimpact. ASME Journal of Applied Mechanics, pages 440-445, 1975.
6. K. L. Johnson. Contact Mechanics. Prentice Hall International Editions, 1995.
7. W.N. Findley, J.S. Lai, and K. Onaran. Creep and Relaxation of Nonlinear Viscoelastic Materials. North-Holland Publishing Company, 1976.
8. S. Misra abd A. M. Okamura. Environment parameter estimation during bilateral telemanipulation. In Symposium on Virtual Interfaces for Virtual Environment and Teleoperator Systems, Alexandria, Virginia, USA, 2006.
9. Y. Yokokohji and T. Yoshikawa. Bilateral control of master-slave manipulators for ideal kinesthetic coupling. In IEEE International Conference on Robotics and Automation, Nice, France, 1992.
10. B. Hannaford. A design framework for teleoperators with kinesthetic feedback. IEEE Transactions on Robotics and Automation, 5(4), 1989.
11. G. De Gersem, H. Van Brussel, and J. Vander Sloten. Enhanced haptic sensitivity for soft tissues using teleoperation with shaped impedance reflection. In World Haptics Conference, Pisa, Italy, 2005.
12. K. Hashtrudi-Zaad and S.E. Salcudean. Adaptive transparent impedance reflecting teleoperation. In IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 1996.
13. K. B. Shimoga and A. A. Goldenberg. Soft robotic fingertips - part ii: A comparison of construction materials. The Int. Journal of Robotic Research, 15(4), 1996.
14. H. C. Güler, N. Berme, and S. R. Simon. A viscoelastic sphere model for the representation of plantar soft tissue during simulations. Jour. of Biomechanics, 31:847-853, 1998.
15. M. Shibata and S. Hirai. Stability and graspability analysis in grasping task taking fingertip dynamics into consideration. In Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, IROS'04, Sendai, Japan, 2004.
16. K.H. Hunt and F.R.E. Crossley. Coefficient of restitution interpreted as damping in vibroimpact. ASME Journal of Appl. Mech., 1975.
17. D.W. Marhefka and D.E. Orin. A compliant contact model with nonlinear damping for simulation of robotic systems. IEEE Trans. on Systems, Man and Cybernetics, 29(6), 1999.
18. P.R. Kraus and V. Kumar. Compliant contact models for rigid body collisions. In Proc. of IEEE Int. Conf. on Robotics and Automation, ICRA'97, 1997.
19. N. Diolaiti, C. Melchiorri, and S. Stramigioli. Contact impedance estimation for robotic systems. IEEE Trans. on Robotics and Automation, 21(5), 2005.
20. Y.C. Fung. Biomechanics: Mechanical Properties of Living Tissues. Springer-Verlag, 1993.
21. W. N. Findley and J. S. Y. Lay. A modified superposition principle applied to creep of nonlinear viscoelastic material under abrupt changes in state of combined stress. Trans. of the Society of Rheology, vol. 11(3):361-380, 1967.
22. A. C. Pipkin and T. G. Rogers. A non-linear integral representation for viscoelastic behaviour. Jour. of Mech. Phys. Solids, vol. 16, 1967.
23. L. Ljung and T. Södertström. Theory and Practice of Recursive Identification. The MIT Press, Cambridge, Massachusetts, 1983.
24. K.J. Hunt, M. Munih, N. Donaldson, and F.M.D. Barr. Investigation of hammertein hypothesis in the modelling of electrically stimulated muscle. IEEE Transactions on Biomedical Enginering, 45(8), 1998.
25. E. Eskinat, SH. Johnson, and W.L. Luyben. Use of hammerstein models in identification of nonlinear systems. AIChE Journal, 37(2), 1991.
26. K.S. Narendra and P.G. Gallman. An iterative method for the identification of the nonlinear systems using the hammerstein model. IEEE Transactions on Automatic Control, 12, 1966.
27. I. Kao and F. Yang. Stiffness and contact mechanics of soft fingers in grasping and manipualtion. IEEE Trans. on Robotics and Automation, 20(1), 2004.
28. L. Biagiotti, C. Melchiorri, P. Tiezzi, and G. Vassura. Modelling and identification of soft pads for robotic hands. In Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, IROS'05, 2005.