Robotics: Science and Systems V

Bridging the gap between passivity and transparency

M. Franken, S. Stramigioli, R. Reilink, C. Secchi and A. Macchelli


In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest transparency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy balance which will ensure passivity and one for the haptic information between master and slave and which will address transparency. The authors believe that this structure is the most general up to date which preserves passivity under discrete time varying delays allowing different control schemes to address transparency.



    AUTHOR    = {M. Franken AND S. Stramigioli AND R. Reilink AND C. Secchi AND A. Macchelli},
    TITLE     = {Bridging the gap between passivity and transparency},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2009},
    ADDRESS   = {Seattle, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2009.V.036}