In this course, you will develop:
- Your ability to study and understand the content of scientific work
- Conveying the outcomes and insights of this study
- Critical thinking
- Familiarity with some of the key ideas in the field of telemanipulation
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- Introduction
- Telemanipulation and application
- Challenges in telemanipulation
- Basic Concepts
- Stability, passivity, transparency
- Dynamics and models
- Ideal and non-ideal behaviour
- Effects of time delays and adding damping
- Dealing with the effects of time delays: stability
- Wave variables
- Time domain passivity control and passivity layers
- Dealing with the effects of time delays: performance
- Bilateral and adaptive impedance control
- Point-cloud based model mediated teleoperation
- Impedance modulation and tele-impedance
- Using tele-operation to create remote human-human, social interactions
- Different social modalities (voice, gestures, face, touch, ...)
- Bidirectional robot-mediated communication
- ELSA aspects
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