This course is designed to equip students with
fundamental theories and computational
methodologies that are used in (computer
aided) analysis and synthesis of bilaterally
teleoperated systems. By the end of the
course a solid understanding of the principles
of bilateral control in the context of modern
classical control and hands-on experience
with implementation of bilateral controllers
on force-feedback devices are aimed.
Covered topics include haptic rendering of
virtual environments, passivity of the human-
in-the-loop systems, transparency and
coupled stability scaled teleoperation
architectures, trade-off between robust
stability and transparency, destabilizing
effects of communication/computation delays
and approaches to compensate for these time
delays, namely, time domain passivity and
wave variable approaches. The course is
appropriate for students in any engineering
discipline with interests in robotics, nonlinear
controls, and haptics
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