The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional ...

The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...

This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable ...

The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. ...

In this paper the problem of robust coordination of multi–agent systems via energy–shaping is studied. The agents are nonidentical, Euler–Lagrange systems with uncertain parameters. The control objective is to drive all ...

This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements. In ...

Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey ...

The employment of haptic devices in teleoperation systems and the use of motion restrictions during robot teleoperation provide the operator with increased awareness and can considerably improve the feeling of immersion ...

Aquest treball vol ésser una breu presentació de l'Institut de Cibernètica i de la seva tasca de recerca. A la primera part s'exposen eIs antecedents sobre els inicis i creació de l'Institut, els seus objectius i la seva ...

This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the ...