Robot-Assisted Telesurgery

The control is based on Operational Space Formulation by Oussam Khatib, to whom our principal scientist was fortunate to work with. This is based on full-dynamics simultaneous force and motion control. The principles of robot control are shown in the videos below.

Full-Dynamics Control of a Mobile Manipulator

Simultaneously force and motion control of a mobile manipulator that is based on compliant motion, with experimentally identified full dynamics parameters.

Khatib and Tomizuka

Prof. Oussama Khatib of Stanford University showing Prof. Masayoshi Tomizuka of University of California the capability of the demo.

Principle of Compliant Motion

The principle of compliant motion is based on a desired nonzero normal force and zero desired moment about a given axis.