STABLE HAPTIC INTERACTION
BASED ON TIME DOMAIN PASSIVITY CONTROL
Energy-based method was
presented for controlling a haptic interface system to
ensure stable contact under a wide variety of operating
conditions. System stability was analyzed in terms of the
time-domain definition of passivity.
We define a “Passivity Observer” (PO) which
measures energy flow in and out of one or more subsystems in
real-time software. Active behavior is indicated by a
negative value of the PO at any time. We also define the
“Passivity Controller” (PC), an adaptive dissipative element
which, at each time sample, absorbs exactly the net energy
output (if any) measured by the PO. The PO/PC method
requires very little additional computation
and does not require a dynamical model to be identified.
EXPERIMENT (video 1 Mb)
APPLICATIONS
- stable haptic interaction with virtual
environments
- stable bilateral teleoperation
- automatic control
- control of flexible manipulators
- humanoid robot control
- compensation of time delay in bilateral
teleoperation
PUBLICATIONS
Blake Hannaford and Jee-Hwan Ryu, “Time Domain Passivity Control of Haptic Interfaces,” U.S. Patent No. 7,027,965 B2, Apr. 11, 2006.
PDF
Blake Hannaford and Jee-Hwan Ryu, “Time Domain Passivity Control of Haptic Interfaces,” IEEE Trans. on Robotics and Automation, Vol. 18, No. 1, pp. 1-10, 2002. (Full paper) SCI Impact Factor: 2.103 SCI Times Cited: 8.
PDF
Jee-Hwan Ryu, Dong-Soo Kwon and Blake
Hannaford, “Stable Teleoperation with Time Domain Passivity
Control,” IEEE Trans. on Robotics and Automation, Vol. 20,
No. 2, pp. 365-373, 2004. SCI Impact Factor: 2.103. PDF
Jee-Hwan Ryu, Dong-Soo Kwon and Blake
Hannaford, “Stability Guaranteed Control: Time Domain
Passivity Approach,” IEEE Trans. on Control Systems
Technology, Vol. 12, No. 6, pp. 860-868, 2004. (Full paper)
SCI Impact Factor: 1.157
PDF
Jee-Hwan Ryu, Dong-Soo Kwon and Blake
Hannaford, “Control of a Flexible Manipulator with
Noncollocated Feedback: Time Domain Passivity Approach,”
IEEE Trans. on Robotics (The successor of IEEE Trans. on
Robotics and Automation), Vol. 20, No. 4, pp. 776-780, 2004.
SCI Impact Factor: 2.103
PDF
Carsten Preusche, Gerd Hirzinger, Jee-Hwan
Ryu and Blake Hannaford, “Time Domain Passivity Control for
6 Degrees of Freedom Haptic Displays,” IEEE/RSJ
International Conference on Intelligent Robots and Systems,
Las Vegas, pp. 2944-2949, 2003.
PDF
Jee-Hwan Ryu, Yoon Sang Kim and Blake
Hannaford, “Sampled and Continuous Time Passivity and
Stability of Virtual Environments,” IEEE Trans. on Robotics
(The successor of IEEE Trans. on Robotics and Automation),
Vol. 20, No. 4, pp. 772-776, 2004. SCI Impact Factor: 2.103
PDF
Jee-Hwan Ryu, Blake Hannaford, Dong-Soo Kwon,
and Jong-Hwan Kim, “A Simulation/Experimental Study of the
Noisy Behavior of the Time Domain Passivity Controller,”
IEEE Trans. on Robotics, Vol. 21, No. 4, pp. 733-741. SCI
Impact Factor: 2.103
PDF
Yong-Duk Kim, Bum-Joo Lee, Jeong-Ki Yoo, Jong-Hwan
Kim, and Jee-Hwan Ryu, "Compensation for the Landing Impact
Force of a Humanoid Robot by Time Domain Passivity
Approach," Proceedings of the 2006 IEEE International
Conference on Robotics and Automation, Orlando, Florida -
May 2006 PDF
Jee-Hwan Ryu, Carsten Preusche, Blake
Hannaford, and Gerd Hirzinger, “Time Domain Passivity
Control with Reference Energy Behavior,” IEEE Trans. on
Control Systems Technology, Vol. 13, No. 5, pp. 737-742. SCI
Impact Factor: 1.157
PDF
Jee-Hwan Ryu, C. Preusche, “Stable Bilateral
Control of Teleoperators Under Time-varying Communication
Delay: Time Domain Passivity Approach,” IEEE ICRA’07.
PDF
Jee-Hwan Ryu, "Bilateral Control with Time
Domain Passivity Approach Under Time-varying Communication
Delay," in Proc. of IEEE ICAR'07, Jeju, Korea. PDF
Jee-Hwan Ryu, "Bilateral Control with Time
Domain Passivity Approach Under Time-varying Communication
Delay" In Proc. of the 16th IEEE International Conference on
Robot & Human Interactive Communication, August 26 ~ 29,
2007/ Jeju, Korea. PDF
CONTACTS
For more information, please contact:
Prof. Jee Hwan Ryu
jhryu@kut.ac.kr
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