Teleoperation of humanoid robots enables the integration of the cognitive skills and domain
expertise of humans with the physical capabilities of humanoid robots. The operational …

This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …

This survey addresses the subject of bilateral teleoperation, a research stream with more
than 50 years of history and one that continues to be a fertile ground for theoretical …

Thank you for opening the third edition of this monograph, dedicated to dissipative linear or
nonlinear, autonomous or time-varying, smooth or nonsmooth, single-valued or set-valued …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

In this paper we survey the development of the wave variable concept and examine wave-
based teleoperation. We study the behavior of force reflecting systems under unknown but …

A new bilateral control scheme is proposed to ensure stable teleoperation under a wide
variety of environments and operating speeds. System stability is analyzed in terms of the …

Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …

Bilateral teleoperators, designed within the passivity framework using concepts of scattering
and two-port network theory, provide robust stability against constant delay in the network …

In this paper the problem of position tracking in the presence of variable time delay is
studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator …