Ahmetcan Erdoğan

A new approach to online generation of velocity fields for parametric curves is presented for implementation in passive velocity field controllers that enable human-in-the-loop contour following tasks. A feedback stabilized closest point tracking algorithm is utilized for real-time determination of the contour error and online construction of the velocity field. The algorithm augments the system dynamics with a new state, and implements a uniformly asymptotically stable controller to update this new state to continual track the closest point to the robot end-effector. Thanks to its feedback-stabilized core, the algorithm is immune to initialization errors, robust against drift and numerical noise.

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