Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Online generation of velocity fields for passive contour following

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Erdogan, A. ; Fac. of Eng. & Natural Sci., Sabanci Univ., İstanbul, Turkey ; Patoglu, V.

A new approach to online generation of velocity fields for parametric curves is presented for implementation in passive velocity field controllers (PVFC) that enable human-in-the-loop contour following tasks. In particular, a feedback stabilized closest point tracking algorithm is utilized for real-time determination of the contour error and online construction of the velocity field. The algorithm augments the system dynamics with a new state, and implements a uniformly asymptotically stable controller to update this new state to continual track the closest point to the robot end-effector. Thanks to its feedback-stabilized core, the algorithm is immune to initialization errors, and robust against drift and numerical noise. Furthermore, requiring simple evaluations of the curve and its unit tangents, the approach is computationally efficient. Applicability and effectiveness of the approach to implement passive contour following tasks have been demonstrated through simulations and experiments with a two degrees-of-freedom haptic interface.

Published in:

World Haptics Conference (WHC), 2011 IEEE

Date of Conference:

21-24 June 2011