Bilateral matched impedance teleoperation with application to excavator control

TitleBilateral matched impedance teleoperation with application to excavator control
Publication TypeConference Paper
Year of Publication1998
AuthorsSalcudean, S. E., K. Hashtrudi-Zaad, S. Tafazoli, S. P. DiMaio, and C. Reboulet
Conference NameRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Pagination133 -139 vol.1
Date Publishedmay.
Keywordsexcavator, excavators, feedback, force control, force-feedback control, impedance matching, master slave system, position control, simulations, teleoperation, telerobotics
Abstract

This paper addresses issues of transparency and implementation of dual hybrid teleoperation. A method for automatically adjusting the master and slave impedances to match stiff and soft environments and to interpolate in between them is presented and evaluated using simulations. The application of this technique to the force-feedback control of a mini-excavator is also presented and discussed with supporting experimental results

URLhttp://dx.doi.org/10.1109/ROBOT.1998.676337
DOI10.1109/ROBOT.1998.676337

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