Passivity concepts have been a topic of interest widely in systems and control. In particular, they have provided unified fundamental tools for a variety of robot control problems. In this talk, I shall describe new developments in passivity-based control in robotics; namely in cooperative control of robotic networks and in visual feedback with visual motion observer. First the talk begins with output synchronization for networked robotics, consisting of nonlinear passive dynamics and of rigid body networks on SE(3). Then it focuses on systematic construction of visual motion observer for three-dimensional dynamic motion estimation, which enables us to synthesize visual feedback control. By exploiting passivity concepts further, an emerging topic of human robotic-networks teaming is also examined and discussed. Rich experimental case studies with hands-on robotic testbeds are effectively demonstrated throughout the talk.
