Cavazza, Marco (2019) Bilateral Control with Task Learning and Adaptation to Environment. [Magistrali biennali]
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The Motion Copying System permits to save an operator task in terms of position and force references for the action reproduction whenever the operator isn't available or to train new users. This thesis analyzes the MCS design and limitations, the Bilateral Control System on which the MCS is based, and proposes a model to adapt the saved task to new environmental conditions.
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