23 citations · 58 across the 10 of their papers we have counts for
5 papers · 1 filter
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
Andre Coelho, Christian Ott, Harsimran Singh +2
When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the de…
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
Min Jun Kim, Fabian Beck, Christian Ott +1
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed…
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions
Min Jun Kim, Woongyong Lee, Jae Yeon Choi +5
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivi…
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements
Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano +1
In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurem…
Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego +4
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-…