Bilateral Teleoperation Control Using Unified Interactive Model for Manipulation in Contact Environment<sup>*</sup>
Bibliographic record
Abstract
In this paper, a novel bilateral teleoperation control is designed specifically for manipulation in contact environment. Firstly, serval interaction conditions (e.g., free motion and rigid interaction) are defined and unified into one equation as the designed unified interactive model, which can also be utilized as a control objective. Based on this model, a remote hybrid motion/force controller is designed for remote robot, which achieves the good position and force tracking, and ensures the precise and safe contact force that helps reduce the workload of operator. Subsequently, the contact force is reconstructed in the local side by estimating and transmitting the non-power environment coefficient from remote side, which provides the operator with accurate force feedback. Since the coefficient replaces the direct transmission of force signal in the communication channel, the traditional power-cycle problem is essentially avoided, which guarantees the stability of teleoperation system under communication time delays. Comparative experiments are implemented to verify the effectiveness of proposed method for teleoperated manipulation.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".