ICRA 2011 Paper Abstract


Paper TuA205.1

LE, Minh-Quyen (INSA de Lyon), Pham, Minh Tu (INSA de Lyon (Institut National des Sciences Appliquees)), Tavakoli, Mahdi (University of Alberta), Moreau, Richard (INSA-Lyon)

Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves

Scheduled for presentation during the Regular Sessions "Teleoperation I" (TuA205), Tuesday, May 10, 2011, 10:05−10:20, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Teleoperation, Haptics and Haptic Interfaces, Hydraulic/Pneumatic Actuators


This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost solenoid valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position–position, force–force, or force–position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.



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