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arXiv · 2611.00898

Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture

Cheng Zhou·Jing Li
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Abstract

Opening the door of unsecured furniture loads the frictional contacts at its supports; too large a pull slides or tips the object. A friction-cone constraint on the commanded wrench removes this failure mode but costs haptic transparency. We quantify the trade-off: an admissible wrench set built from contact friction cones and support-polygon tipping margins is shrunk for robustness to bounded mass and friction errors, and any command in the shrunken set provably leaves the furniture static (Prop. 1). We call this map the robust friction cone projection (RFCP). RFCP and its haptic guard admit a bounded force transmission error (Prop. 2): transparency degrades only within a band near the constraint boundary, whose width is set by one scalar, the stability factor . A working condition controller handles the door: the operator commands a scalar swing amplitude, the slave orientation follows hinge kinematics, and the grasp wrench is regulated per phase. A pre task certificate decides whether a door can be opened without moving the furniture. Experiments on three cabinets and two supports with five operators (100 trials) measure the stability transparency trade-off and ablate the guard, RFCP and the position baseline. The mechanism is not door-specific: it applies to any body reacted by frictional contacts.

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Cheng Zhou, Jing Li. 2026-10-31. Trading Transparency for Stability: Friction-Cone-Constrained Bilateral Teleoperation for Opening Doors of Unsecured Furniture. https://arxiv.org/abs/2611.00898

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