Passivity-Based Control of Distributed Teleoperation With Velocity/Force Manipulability Optimization
Bibliographic record
Abstract
This article proposes a distributed passivity-based bilateral teleoperation control for optimizing the velocity/force manipulability of the coordinated remote redundant manipulators during the task execution. Following the leader–follower paradigm, the control connects a local haptic device with a leader remote manipulator and coordinates all the leader and follower remote manipulators. The approach is novel in reconciling the potential conflicts between the pose synchronization task and the manipulability optimization task for the remote manipulators by two-layer auxiliary systems. The first layer decouples the pose synchronization constraints into separable position and orientation constraints, and the second layer optimizes the manipulability under the position and orientation constraints. The approach is robust by designing smooth controls for the manipulators without knowing their dynamic parameters. Finally, the control renders the bilateral teleoperator output strictly passive for stable physical interactions with the human user and the environment. Comparative experiments verify the effectiveness of the proposed control in the presence of time-varying communication delays.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".