Séminaire iSiR Jee-Hwan RYU BioRobotics Lab, School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, Rep. of Korea www.isir.fr  01 44 27 5141/5131 Fax: 01 44 27 51 45 Mardi 13 septembre 2011 à 14h30 Campus Jussieu, 4 place Jussieu, Paris Pyramide ISIR, 56/65, niveau Jussieu, salle de réunion H20 Time Domain Passivity Approach and its Applications to Haptic and Telerobotic Systems Abstract: One of the most significant problems in haptic interface design is to create a control system which simultaneously is stable (i.e., does not exhibit vibration or divergent behavior) and gives high fidelity under any operating conditions and for any virtual environment parameters. One fruitful approach is to use the idea of passivity to guarantee stable operation. However, the major problem with using passivity for design of haptic interaction systems is that it is too conservative. In many cases, performance can be poor if a fixed damping value is used to guarantee passivity under all operating conditions. In this talk, a new concept of energy based approach, so called Time Domain Passivity Approach (TDPA), which inject adaptive virtual damping to satisfy the time domain passivity constraint will be introduced from the basic concept to its applications to Haptic, Telerobotic Systems and even humanoid robot. First, the definition of the “Passivity Observer” (PO) which measures net energy flow in real-time, and the “Passivity Controller” (PC), an adaptive dissipative element, will be reviewed. After we study the basic concept, its applications to haptic and telerobotic systems will be introduced including time-delayed teleoperation. In addition, efforts to generalize the TDPA to more general telerobotic systems even including general motion control system will be briefly introduced. At the end of the talk, I would like to comment on some recent extension and future issues. Short bio: Jee-Hwan Ryu received the B.S. degree in mechanical engineering from Inha University, Inchon, Korea, in 1995, and the M.S. and Ph.D. degrees in mechanical engineering from Korea Advanced Institute of Science and Technology, Taejon, Korea, in 1995 and 2002, respectively. From 2002 to 2003, he was a PostDoc. in the Biorobotics Laboratory in the Department of Electrical Engineering, University of Washington, Seattle. While he was in U. of Washington, he was invited for three months as a visiting scientist from the Institute of Robotics and Mechatronics, DLR in Munich. From 2003 to 2005, he was a research professor in the Department of Electrical Engineering, Korea Advanced Institute of Science and Technology. He is currently an Associate Professor in the School of Mechanical Engineering, Korea University of Technology and Education. His research interests are control of haptics and telerobotic systems including autonomous vehicle. Sous la co-tutelle de Institut des Syst"mes Intelligents et de Robotique UPMC – CNRS / UMR 7222 Pyramide Tour 55 - Boîte courrier 173 4 Place Jussieu – 75252 PARIS cedex 05 – France Tél. +33 (0)1 44 27 51 31 / 51 41 – Fax +33 (0)144 27 51 45