Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators

By Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean. Int. J. Robotics Res., 2001

404 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Mechanical Engineering, Surgery

View Paper: https://www.semanticscholar.org/paper/2afe2d947bb6afbfdcc8c52920afe2e4c75fc0b5

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. H. V. D. Kooij
2. Arno H. A. Stienen
3. Arvid Q. L. Keemink
4. Keyvan Hashtrudi-Zaad
5. Septimiu E. Salcudean

In Mechanical Engineering

1. H. V. D. Kooij
2. Arno H. A. Stienen
3. Arvid Q. L. Keemink
4. Keyvan Hashtrudi-Zaad
5. Septimiu E. Salcudean
6. Romeo Ortega
7. Luis Basañez
8. Emmanuel Nuño

In Surgery

1. H. V. D. Kooij
2. Arno H. A. Stienen
3. Arvid Q. L. Keemink
4. Keyvan Hashtrudi-Zaad
5. Septimiu E. Salcudean

Citations in the corpus

• Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation (2002, methodology): “Using Llewellyn’s absolute stability criterion, one can show that the system stability is not guaranteed for all passive operator and environment [7], [15].”
• Admittance control for physical human–robot interaction (2018, methodology): “The latter fits the framework of the 4C Controller, as popularized by Lawrence (1993) and Hashtrudi-Zaad and Salcudean (2001).”
• Passivity-based control for bilateral teleoperation: A tutorial (2011, background): “…error controller, could stabilize the teleoperator with short time-delays if the controller gains are properly chosen Arcara and Melchiorri (2004), Hastrudi-Zaad and Salcudean (2001) and Lee and Lee (1993), and the use of a PD + d controller for teleoperators with constant time-delays has been…”