Two-Layer-Based Multiarms Bilateral Teleoperation Architecture

Optimal Energy Tank Initialization for Minimum Sensitivity to Model Uncertainties

“…Passivity is a significant property since a passive system is not only simply stable, but passivity is a necessary and sufficient condition for achieving robust stability [3]. Passivitybased control has been exploited in many robotic fields, such as collaborative robotics [4], bilateral teleoperation [5], and multi-robot system [6].…”