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...