Drift-based Adaptive Workspace Mapping Controller for Haptic Interaction

Researchers in the Stanford Robotics Lab have developed a dynamically adaptive workspace mapping control method that adjusts remote task resolution to keep haptic-robot (in real-world applications) or haptic-avatar (in virtual environment) interactions within the device workspace boundaries; and maintains precise movements. The controller combines a drift-based technique , which continuously moves the haptic device back to its workspace center and the robot to the task area of interest; and a smart adaptive scaling of the exchanged motions and forces to ensure both large exploratory and small accurate tasks. . The balanced progressive and imperceptible drift with the resolution scaling ensure that teleoperation activities in any environment feel free of haptic interface hinderance.