Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays

This document proposes a control scheme applied to delayed bilateral teleoperation of the forward and turn speed biped robot against asymmetric time-varying delays. is modeled as hybrid dynamic system because it behaves continuous when leg moves discrete foot touches ground generating an impulsive response. It proposed vary online damping according time delay present in communication channel, walking cycle using optimization criterion, decrease errors. To accomplish this, three-phase cascade calibration process used, their benefits are evidenced comparative simulation study. The first phase offline inverse compensation also parameters controller. second guarantees coordination system, Lyapunov–Krasovskii stability theory, by changing leader equivalent follower together. third assures stable walk dynamics controlling real move eigenvalues Poincaré map, numerically computed, limit cycles link this result with join both phases. Additionally, fictitious force was implemented detect avoid possible collisions obstacles. Finally, intercontinental experiment NAO via Internet including visual feedback shown.