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Stability of Haptic Obstacle Avoidance and Force Interaction

Johansson, Rolf LU ; Annerstedt, Magnus and Robertsson, Anders LU (2009) 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems In IEEE RSJ International Conference on Intelligent Robots and Systems 2009 p.3238-3243
Abstract
Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-dependent potential-like repulsive stable haptic force interaction with obstacles. Using strictly positive real re-design, stable force interaction can be provided also for high stiffness of manipulated objects or obstacles.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Passivity, Obstacle avoidance, Haptics, Force Control, Potential Functions, Robot, Stability
in
IEEE RSJ International Conference on Intelligent Robots and Systems 2009
pages
3238 - 3243
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
external identifiers
  • WOS:000285372901215
  • Scopus:76249087918
ISBN
978-1-4244-3803-7
DOI
10.1109/IROS.2009.5354414
project
ROSETTA
language
English
LU publication?
yes
id
c0be3f7a-3d83-4763-b26a-291c864c38be (old id 1626836)
date added to LUP
2010-07-02 09:12:25
date last changed
2016-10-13 04:42:43
@misc{c0be3f7a-3d83-4763-b26a-291c864c38be,
  abstract     = {Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-dependent potential-like repulsive stable haptic force interaction with obstacles. Using strictly positive real re-design, stable force interaction can be provided also for high stiffness of manipulated objects or obstacles.},
  author       = {Johansson, Rolf and Annerstedt, Magnus and Robertsson, Anders},
  isbn         = {978-1-4244-3803-7},
  keyword      = {Passivity,Obstacle avoidance,Haptics,Force Control,Potential Functions,Robot,Stability},
  language     = {eng},
  pages        = {3238--3243},
  publisher    = {ARRAY(0xb64ca90)},
  series       = {IEEE RSJ International Conference on Intelligent Robots and Systems 2009},
  title        = {Stability of Haptic Obstacle Avoidance and Force Interaction},
  url          = {http://dx.doi.org/10.1109/IROS.2009.5354414},
  year         = {2009},
}