DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Kim, YS | ko |
dc.contributor.author | Hannaford, B | ko |
dc.date.accessioned | 2013-03-03T12:01:39Z | - |
dc.date.available | 2013-03-03T12:01:39Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2004-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.20, no.4, pp.772 - 776 | - |
dc.identifier.issn | 1042-296X | - |
dc.identifier.uri | http://hdl.handle.net/10203/78567 | - |
dc.description.abstract | We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN.m) virtual environment, and stable contact is demonstrated. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Sampled- and continuous-time passivity and stability of virtual environments | - |
dc.type | Article | - |
dc.identifier.wosid | 000223187200016 | - |
dc.identifier.scopusid | 2-s2.0-4344624644 | - |
dc.type.rims | ART | - |
dc.citation.volume | 20 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 772 | - |
dc.citation.endingpage | 776 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.identifier.doi | 10.1109/TRO.2004.829453 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Kim, YS | - |
dc.contributor.nonIdAuthor | Hannaford, B | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | haptic interface | - |
dc.subject.keywordAuthor | passivity controller (PC) | - |
dc.subject.keywordAuthor | passivity observer (PO) | - |
dc.subject.keywordAuthor | time-domain passivity | - |
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