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Stability of Haptic Obstacle Avoidance and Force Interaction

Johansson, Rolf LU orcid ; Annerstedt, Magnus and Robertsson, Anders LU (2009) 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 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
; and
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
host publication
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
conference location
St. Louis, United States
conference dates
2009-10-11
external identifiers
  • wos:000285372901215
  • scopus:76249087918
ISBN
978-1-4244-3803-7
DOI
10.1109/IROS.2009.5354414
project
LU Robotics Laboratory
ROSETTA
Stable Oscillations in Nonlinear Systems 2009-2010
language
English
LU publication?
yes
id
c0be3f7a-3d83-4763-b26a-291c864c38be (old id 1626836)
date added to LUP
2016-04-04 10:54:09
date last changed
2021-06-09 03:25:45
@inproceedings{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},
  booktitle    = {IEEE RSJ International Conference on Intelligent Robots and Systems 2009},
  isbn         = {978-1-4244-3803-7},
  language     = {eng},
  pages        = {3238--3243},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Stability of Haptic Obstacle Avoidance and Force Interaction},
  url          = {https://lup.lub.lu.se/search/files/5648221/8146119.pdf},
  doi          = {10.1109/IROS.2009.5354414},
  year         = {2009},
}