Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture
Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture
This paper introduces a friction-cone constraint method for bilateral teleoperation to prevent furniture from sliding or tipping when opening doors. The authors define a robust friction cone projection (RFCP) that shrinks the admissible wrench set to ensure stability despite mass and friction uncertainties, while bounding the degradation of haptic transparency. A working condition controller regulates the grasp wrench based on swing amplitude and hinge kinematics, with a pre-task certificate determining if a door can be opened safely without moving the furniture. Experiments involving five operators across three cabinets and two support configurations (100 trials) quantify the stability-transparency trade-off and validate the proposed method against position-based baselines.
The authors propose a control framework that constrains teleoperated forces within friction cones to prevent furniture tipping, explicitly quantifying the resulting loss of haptic transparency through experiments on unsecured cabinet doors.
Source: arXiv Robotics — research abstracts · Read original article ↗
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
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5
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
Open source S4supports
2
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
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3
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
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n controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and th
Open source S4
Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture
Open source S1
Source：arXiv Robotics — research abstracts · arxiv.org