Touch is currently seen as the modality that will complement audition and vision as a third
media stream over the Internet in a variety of future haptic applications which will allow full …

This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …

In this paper we study passivity-based control for the problem of coordination and
synchronization of multi-agent systems. We treat agents described by affine nonlinear …

The paper introduces a security framework for the application of human-robot collaboration
in a futuristic industrial cyber-physical system (CPS) context of industry 4.0. The basic …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

This article is an historical overview of control theory applied to robotic manipulators, with an
emphasis on the early fundamental theoretical foundations of robot control. It discusses …

Bilateral teleoperators, designed within the passivity framework using concepts of scattering
and two-port network theory, provide robust stability against constant delay in the network …

Limited by the operation time window and working space, space teleoperation tasks need to
be completed within an expected time while ensuring that the end effector meets the …

Reset Control Systems addresses the analysis for reset control treating both its basic form
which requires only that the state of the controller be reinitialized to zero (the reset action) …

In a recent scheme, with delayed derivative action Lee and Spong, IEEE Trans. Robot., vol.
22, no. 2, pp. 269--281, Apr. 2006, it is claimed that a simple proportional derivative (PD) …