Frequency domain stability observer and active damping control for stable haptic interaction

Dongseok Ryu; Jae Bok Song; Junho Choi; Sungchul Kang; Munsang Kim

doi:10.1109/ROBOT.2007.363772

Frequency domain stability observer and active damping control for stable haptic interaction

Dongseok Ryu, Jae Bok Song, Junho Choi, Sungchul Kang, Munsang Kim

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	105-110
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363772
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2007.363772

Cite this

Ryu, D., Song, J. B., Choi, J., Kang, S., & Kim, M. (2007). Frequency domain stability observer and active damping control for stable haptic interaction. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 105-110). Article 4209077 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363772

Frequency domain stability observer and active damping control for stable haptic interaction. / Ryu, Dongseok; Song, Jae Bok; Choi, Junho et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 105-110 4209077 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ryu, D, Song, JB, Choi, J, Kang, S & Kim, M 2007, Frequency domain stability observer and active damping control for stable haptic interaction. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209077, Proceedings - IEEE International Conference on Robotics and Automation, pp. 105-110, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363772

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author = "Dongseok Ryu and Song, {Jae Bok} and Junho Choi and Sungchul Kang and Munsang Kim",

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AB - Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior.

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BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

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ER -

Frequency domain stability observer and active damping control for stable haptic interaction

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