HapticV1, PascalFrancis, Corpus, bibRecord, 000F35

Sampled- and continuous-time passivity and stability of virtual environments

Identifieur interne : 000F35 ( PascalFrancis/Corpus ); précédent : 000F34; suivant : 000F36

Sampled- and continuous-time passivity and stability of virtual environments

Auteurs : Jee-Hwan Ryu ; YOON SANG KIM ; Blake Hannaford

Source :

IEEE transactions on robotics

RBID : Pascal:04-0537823

Descripteurs français

Pascal (Inist)
- Système échantillonné, Passivité, Identification système, Observateur, Temps continu, Réalité virtuelle, Pilotage ordinateur, Interface utilisateur, Méthode domaine temps.

English descriptors

KwdEn :
- Computer control, Continuous time, Observer, Passivity, Sampled system, System identification, Time domain method, User interface, Virtual reality.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A05				`@2 20`
A06				`@2 4`
A08	`01`	`1`	`ENG`	`@1 Sampled- and continuous-time passivity and stability of virtual environments`
A11	`01`	`1`		`@1 RYU (Jee-Hwan)`
A11	`02`	`1`		`@1 YOON SANG KIM`
A11	`03`	`1`		`@1 HANNAFORD (Blake)`
A14	`01`			`@1 Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology @2 Taejeon 305-701 @3 KOR @Z 1 aut.`
A14	`02`			`@1 Samsung Advanced Institute of Technology @2 Yongin 449-907 @3 KOR @Z 2 aut.`
A14	`03`			`@1 Department of Electrical Engineering, University of Washington @2 Seattle, WA 98195-2500 @3 USA @Z 3 aut.`
A20				`@1 772-776`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 21023A`
A44				`@0 A300`
A45				`@0 13 ref.`
A47	`01`	`1`		`@0 04-0537823`
A60				`@1 P @3 CC`
A61				`@0 A`
A64	`01`	`2`		`@0 IEEE transactions on robotics`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D13`
C03	`01`	`X`	`FRE`	`@0 Système échantillonné @5 01`
C03	`01`	`X`	`ENG`	`@0 Sampled system @5 01`
C03	`01`	`X`	`SPA`	`@0 Sistema muestreado @5 01`
C03	`02`	`X`	`FRE`	`@0 Passivité @5 02`
C03	`02`	`X`	`ENG`	`@0 Passivity @5 02`
C03	`02`	`X`	`SPA`	`@0 Pasividad @5 02`
C03	`03`	`X`	`FRE`	`@0 Identification système @5 03`
C03	`03`	`X`	`ENG`	`@0 System identification @5 03`
C03	`03`	`X`	`SPA`	`@0 Identificación sistema @5 03`
C03	`04`	`X`	`FRE`	`@0 Observateur @5 04`
C03	`04`	`X`	`ENG`	`@0 Observer @5 04`
C03	`04`	`X`	`SPA`	`@0 Observador @5 04`
C03	`05`	`X`	`FRE`	`@0 Temps continu @5 11`
C03	`05`	`X`	`ENG`	`@0 Continuous time @5 11`
C03	`05`	`X`	`SPA`	`@0 Tiempo continuo @5 11`
C03	`06`	`X`	`FRE`	`@0 Réalité virtuelle @5 12`
C03	`06`	`X`	`ENG`	`@0 Virtual reality @5 12`
C03	`06`	`X`	`SPA`	`@0 Realidad virtual @5 12`
C03	`07`	`X`	`FRE`	`@0 Pilotage ordinateur @5 13`
C03	`07`	`X`	`ENG`	`@0 Computer control @5 13`
C03	`07`	`X`	`SPA`	`@0 Control por ordenador @5 13`
C03	`08`	`X`	`FRE`	`@0 Interface utilisateur @5 14`
C03	`08`	`X`	`ENG`	`@0 User interface @5 14`
C03	`08`	`X`	`SPA`	`@0 Interfase usuario @5 14`
C03	`09`	`X`	`FRE`	`@0 Méthode domaine temps @5 21`
C03	`09`	`X`	`ENG`	`@0 Time domain method @5 21`
C03	`09`	`X`	`SPA`	`@0 Método dominio tiempo @5 21`
N21				`@1 306`
N44	`01`			`@1 PSI`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 04-0537823 CRAN
ET :	Sampled- and continuous-time passivity and stability of virtual environments
AU :	RYU (Jee-Hwan); YOON SANG KIM; HANNAFORD (Blake)
AF :	Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (1 aut.); Samsung Advanced Institute of Technology/Yongin 449-907/Corée, République de (2 aut.); Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (3 aut.)
DT :	Publication en série; Courte communication, note brève; Niveau analytique
SO :	IEEE transactions on robotics; Etats-Unis; Da. 2004; Vol. 20; No. 4; Pp. 772-776; Bibl. 13 ref.
LA :	Anglais
EA :	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.
CC :	001D02D13
FD :	Système échantillonné; Passivité; Identification système; Observateur; Temps continu; Réalité virtuelle; Pilotage ordinateur; Interface utilisateur; Méthode domaine temps
ED :	Sampled system; Passivity; System identification; Observer; Continuous time; Virtual reality; Computer control; User interface; Time domain method
SD :	Sistema muestreado; Pasividad; Identificación sistema; Observador; Tiempo continuo; Realidad virtual; Control por ordenador; Interfase usuario; Método dominio tiempo
LO :	INIST-21023A
ID :	04-0537823

Links to Exploration step

Pascal:04-0537823

Le document en format XML

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<ET>Sampled- and continuous-time passivity and stability of virtual environments</ET>
<AU>RYU (Jee-Hwan); YOON SANG KIM; HANNAFORD (Blake)</AU>
<AF>Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (1 aut.); Samsung Advanced Institute of Technology/Yongin 449-907/Corée, République de (2 aut.); Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (3 aut.)</AF>
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Sampled- and continuous-time passivity and stability of virtual environments

Sampled- and continuous-time passivity and stability of virtual environments

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Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

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