<i>L</i> <sub>1</sub> impedance control for bilateral teleoperation containing model uncertainty
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Bibliographic record
Abstract
Restricting transient peaks of contact force in teleoperation systems is undeniably vital, specially in critical applications such as telesurgery. This issue, however, has still remained unsolved in the literature. In order to address this problem, we propose an impedance control scheme using optimal L 1 theory for teleoperation systems encompassing asymmetric randomly time-varying delays and model uncertainties. To this end, an L 1 -based state-feedback compensator is designed employing linear matrix inequalities, aiming at minimizing the desired impedance error subjected to human force as exogenous disturbance. A simulation is ultimately conducted in comparison with the sliding-mode-based impedance controller. The results validate that the proposed controller is able to keep the integral of impedance error within the desired bound and, thus, improves the transient response. This is, however, at the expense of imposing a steady-state error for the integral of impedance error, which is normally made zero by the sliding-mode controller.
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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