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

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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    12 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 languageEnglish
    Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
    Pages105-110
    Number of pages6
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
    Duration: 2007 Apr 102007 Apr 14

    Publication series

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

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    Country/TerritoryItaly
    CityRome
    Period07/4/1007/4/14

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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