# Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification

## TL;DR

This paper develops and experimentally verifies a passivity-based control framework for human-robotic networks with communication delays, ensuring synchronized motion and stable interaction between robots and humans.

## Contribution

It introduces a novel passivity-based control approach using scattering transformation to handle communication delays in human-robot networks, validated through real-world experiments.

## Key findings

- Communication delays affect human operator behavior.
- Passivity-based control maintains stability despite delays.
- Experimental setup demonstrates effective synchronization.

## Abstract

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion are synchronized to a reference motion desired by a human operator, and then point out that each robot motion ensures passivity. Inter-robot communication channels are then designed via so-called scattering transformation which is a technique to passify the delayed channel. The resulting robotic network is then connected with human operator based on passivity theory. In order to demonstrate the present control architecture, we build an experimental testbed consisting of multiple robots and a tablet. In particular, we analyze the effects of the communication delays on the human operator's behavior.