Foundation: Passivity, Stability And Passivity-Based Motion Control

This chapter provides foundations not only for bilateral teleoperation but also for all of the subsequent chapters. Passivity, stability of dynamical systems, and several passivity-based motion control schemes are introduced.In this chapter, we first introduce the notion of passivity, and then briefly review its close relation to stability. Subsequently, several representative passivity-based motion control laws are then presented. Remark that these contents form the foundation not only for Part I but also for the subsequent Parts II and III.