Passive-Set-Position-Modulation Framework for Interactive Robotic Systems

—We propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuoustime) robot’s position to a sequence of slowly-updating/sparse (discrete-time) set-position signal via the simple (yet frequentlyused in practice) spring coupling with damping injection, while enforcing passivity of the closed-loop robotic system. The PSPM modulates the original set-position signal in such a way that the modulated one is as close to the original one as possible (i.e. maximum information recovery for better performance), yet, only to the extent permissible by the available energy in the system (i.e. passivity constraints). We present its algorithm and theoretically show its passivity and performance. We also show how this PSPM can be applied for two applications with some experimental results: Internet teleoperation with varying-delay and packet-loss; and haptics with slow and variable-rate data update.

• Type: Journal
• Year: 2010
• Where: TROB
• Authors: Dongjun Lee, Ke Huang
• Keywords: Maximum Information Recovery, Original Set-position Signal, Passive Set-position Modulation, TROB 2010