This paper presents a robotic architecture that facilitates semi-automatic teleoperation of a dual-arm manipulator system. The architecture is built upon reactive behavior agents tightly coupling sensing and action, where emergent behaviors correlate human intervention with sensor-based autonomous operation. Reactive agents are devised for perceptual and motor behaviors, and a structured light ...

|This paper presents a synthesis of a collaborative work between the MEL and the LRP in the frame of long distance multi-robots teleoperation using an intermediate functional representation of the real remote world by means of virtual reality. We discuss results of the rst experiment and its extension for controlling in parallel 4 robots without video feedback and the results of the second expe...

This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii)...

A multiestimation-based adaptive controller is designed for robotic manipulators. Multiestimation based techniques can improve the transient response of adaptive systems by switching between the various estimation schemes. The switching process is subject to a minimum dwell or residence time in order to guarantee stability. Then, the multiestimation scheme is applied to the teleoperation of rob...

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of veh...

A teleoperation tool that allows to interact with the remote environment in a more comfortable and flexible way is presented in this chapter. Working over a classical teleoperation environment, the goal is to reach a higher level of abstraction in the user commands. The tool allows the operator to interact with the remote environment through natural language recognition. This system is able to ...

Teleoperation is necessary when the robot is applied to real missions, for example surveillance, search and rescue. We proposed teleoperation system using past image records (SPIR). SPIR virtually generates the bird’s-eye view image by overlaying the CG model of the robot at the corresponding current position on the background image which is captured from the camera mounted on the robot at a pa...

A teleoperation system for whole body motions of a humanoid robot using a simple joystick master device is developed. Humanoid robots are physically similar to human and usually possess a large number of degrees of freedom. Getting hints from the shifting of locus of attention for body motions between the joints of human body during task executions, we propose a switching command based teleoper...

This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii)...

Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is clearly sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, I believe it is worthwhile to examine a new teleoperation approach: collaborative control. In this robot-centric model, instead of the human alw...