Projection-Based Force Reflection Algorithm for Stable Bilateral Teleoperation Over Networks
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Bibliographic record
Abstract
The problem of stable force-reflecting teleoperation is addressed, where the communication between the master and the slave is subject to multiple time-varying, discontinuous, and possibly unbounded communication delays. A new force reflection (FR) algorithm is proposed, which improves the stability of the system without decreasing its transparency. Based on the estimate of human forces provided by the high-gain input observer, the proposed algorithm restricts the reflected force in such a way that it eliminates the motion of the master induced by the FR signal without changing the human perception of the environmental force. It is shown that the proposed FR algorithm allows us to achieve stability of the system for an arbitrarily high FR gain and arbitrarily low damping and stiffness of the master manipulator. The stability analysis is based on the input-to-output stability small-gain theorem for systems with multiple time-varying communication delays.
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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 | 0.000 | 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