Bilateral telerobotic system using Type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception

Automatica, pp. 358-373, 2019.

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Keywords:
Force estimation and controlType-2 fuzzy neural networkMoving horizon estimationBilateral teleoperationMachine vision

Abstract:

This paper firstly develops a novel force observer using Type-2 Fuzzy Neural Network (T2FNN)-based Moving Horizon Estimation (MHE) to estimate external force/torque information and simultaneously filter out the system disturbances. Then, by using the proposed force observer, a new bilateral teleoperation system is proposed that allows the...More

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