A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design
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Bibliographic record
Abstract
To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. An investigation on transparency shows that position-error-based teleoperation provides poor transparency when using constant controller gains, and this can be overcome by gain switching. The scenario studied in this paper is a position-errorbased bilateral teleoperation system when the slave robot is either in free motion or colliding with a stationary stiff environment. A contact stability analysis is presented for teleoperation systems with constant controller gains and then extended to a gain-switching teleoperation system. Issues on the design of a gain-switching control scheme are discussed. The effectiveness of the proposed gain-switching control scheme is evaluated experimentally.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it