A Stable and Transparent Framework for Adaptive Shared Control of Robots (Springer Tracts in Advanced Robotics, 158)

Series Foreword
Foreword
Preface
Acknowledgements
Contents
Symbols and Abbreviations
	Symbols
	Abbreviations
1 Introduction
	1.1 Motivation
	1.2 Related Work
	1.3 Research Gaps
	1.4 Contribution and Overview
2 Fundamentals
	2.1 Stability of Input-Output Systems
		2.1.1 Input-Output Stability
		2.1.2 Passivity
		2.1.3 Passivity Tools and Methods
		2.1.4 Passivity in Teleoperation of Manipulators
	2.2 Transparency
		2.2.1 Ideal Responses
		2.2.2 Transparency Measures
		2.2.3 Transparency Comparison
		2.2.4 Discussion
	2.3 Summary
3 Transparency Enhancement  in Teleoperation
	3.1 Introduction
	3.2 Non-linear Local Force Feedback
		3.2.1 Research Gap and Objectives
		3.2.2 Proposed Method
		3.2.3 Experiments and Results
		3.2.4 Discussion
	3.3 Explicit Force Control in Teleoperation
		3.3.1 Research Gap and Objectives
		3.3.2 Proposed Method
		3.3.3 Experiments and Results
		3.3.4 Discussion
	3.4 Stability with Transparency Enhancement
		3.4.1 Research Gap and Objectives
		3.4.2 Proposed Method
		3.4.3 Experiments and Results
		3.4.4 Discussion
	3.5 Summary
4 Multi-agent Adaptive Shared Control
	4.1 Introduction
	4.2 System-Driven Adaptive Shared Control
		4.2.1 Research Gap and Objectives
		4.2.2 Proposed Method
		4.2.3 Experiments and Results
		4.2.4 Discussion
	4.3 Multi-agent Adaptive Control: Force Scaling
		4.3.1 Research Gap and Objectives
		4.3.2 Proposed Method
		4.3.3 Experiments and Results
		4.3.4 Discussion
	4.4 Multi-agent Adaptive Control: Stiffness Scaling
		4.4.1 Research Gap and Objectives
		4.4.2 Proposed Method
		4.4.3 Experiments and Results
		4.4.4 Discussion
	4.5 Summary
5 Stable and Transparent Shared Control Framework
	5.1 Introduction
	5.2 Passivity of Components
	5.3 Experiments and Results
		5.3.1 Stability
		5.3.2 Transparency
		5.3.3 Validation Experiment
		5.3.4 Discussion
	5.4 Summary
6 Applications
	6.1 Applications in Space Domain
		6.1.1 ISS-Ground Teleoperation
		6.1.2 On-Orbit Servicing
		6.1.3 In-Orbit Robotic Assembly
	6.2 Applications in Terrestrial Domain
		6.2.1 Aerial Inspection and Maintenance
	6.3 Applications of Secondary Contributions
		6.3.1 Whole-Body Control of Humanoid Robot
		6.3.2 On-Ground Simulation of Satellites
		6.3.3 Partitioned Shared Control for OOS
		6.3.4 Compliance Control of Helicopter Manipulator
		6.3.5 Explicit Force Control of Robots
	6.4 Summary
7 Conclusions
Appendix  References