piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a pas...

This letter presents a passivity-based inverse dynamics (ID) controller using global energy tank. The proposed control approach allows us to achieve safe multi-contact scenario on torque controlled humanoid robot. is primarily task space ID quadratic programming (QP) which efficiently computes the reference satisfying non-hierarchical set of tasks. Our work extends this by adding tank modulatin...