Energy-Bounding Approaches for Robustly Stable Haptic Interaction, Bilateral Teleoperation, & Robot Contact Control

▣ Title : Energy-Bounding Approaches for Robustly Stable Haptic Interaction,
               Bilateral Teleoperation, & Robot Contact Control
▣ Speaker : Prof.  Jeha Ryu (GIST)
▣ Date & Time : Friday, October 5 (14:00pm ~ 15:30pm)
▣ Place : LG Research Building, Room #101
▣ Host : Prof. Sangchul Won (Tel. 2221)
              BK21 Educational Institute of Future Information Technology
▣ Abstract : Haptic or force feedback can provide useful information to the operator when interacting with virtual, augmented, and real environments through haptic sensations. In these systems, stability is a key issue in haptic interaction control since haptic interaction has a bidirectional energy flow, unlike visual or auditory displays. Instability in haptic systems can significantly deteriorate haptic sensations and may even harm human users or cause damage to the haptic interfaces. Besides stability, high quality force feedback must be provided while guaranteeing interaction stability in order to deliver a transparent haptic sensation to the user.  This seminar presents the EBA (Energy Bounding Approaches) for the robustly stable and transparent haptic interaction, haptic teleoperation, and general robot contact controls.  The proposed approaches are almost the same for the above three systems.  Moreover, the controller is very simple and so robust against the time delays and uncertainties in the system.  Real experimental results including intercontinental haptic teleoperation will be presented. Finally, real haptic teleoperation from POSTECH to GIST will be demonstrated at site.