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Yanting Zhou

yanting.zhou@mila.quebec
Doctorat - McGill
Superviseur⋅e principal⋅e
James Richard Forbes
Sujets de recherche
Interaction humain-robot
Robotique
Systèmes dynamiques

Publications

Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems
Yanting Zhou
József Kövecses
James Richard Forbes
Rendering haptic feedback with nonlinear virtual environments (VEs) is important in many applications that require highly accurate force fee… (voir plus)dback. This paper considers the use of the Koopman operator to represent a nonlinear VE interacting with a haptic system. Simulation and experimental results demonstrated that the proposed method provides an effective representation of the nonlinear dynamics of a Duffing-oscillator VE. A multi-user study further confirmed this conclusion. In addition, a closed-loop (CL) stability analysis is performed leveraging the Koopman representation of the nonlinear VE to access stability of the overall haptic system. This alternative way of representing nonlinear VEs enables a convenient CL stability analysis that is less conservative than traditional passivity-based methods. Since a linear combination of all lifted states is used to represent the nonlinearity, such representation is also more robust to uncertainties in the modeling of the haptic device than a traditional nonlinear model.
2026-08-10
arXiv (prépublication)
doi.org
arxiv.org