A simple bilateral teleoperation law that clamps the leader's control input to the follower's input achieves both easy free motion and stable contact on low-cost hardware.
Stability and Robustness of Dist urbance-Observer- Based Motion Control Systems,
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Input-gated Bilateral Teleoperation: An Easy-to-implement Force Feedback Teleoperation Method for Low-cost Hardware
A simple bilateral teleoperation law that clamps the leader's control input to the follower's input achieves both easy free motion and stable contact on low-cost hardware.