Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
Keyhan Kouhkiloui Babarahmati,Carlo Tiseo,Quentin Rouxel,Zhibin Li,Michael Mistry,Keyhan Kouhkiloui Babarahmati,Carlo Tiseo,Quentin Rouxel,Zhibin Li,Michael Mistry
Robotic teleoperation provides human-in-the-loop capabilities of complex manipulation tasks in dangerous or remote environments, such as for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for guaranteeing stability. Compared to a tra...
