Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...

In this paper several interfaces for teleoperation of a mobile robot are described and analyzed. We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a haptic master device. Described human-robot teleoperation interfaces were tested by performing experiments. Main objective was to verify the role of different types of feedback information...

Teleoperation is now common in high-risk work domains, particularly in surgery with the extensive use of remote, minimally invasive techniques. While this new technology affords a novel means by which to control human action for surgical intervention, interface design often constrains the operator in unorthodox ways, requiring considerable adaptation and raising patient safety concerns. There i...

This research focuses on improved force-reflecting teleoperation system control in free motion and contact tasks. Specifically, the Naturally-Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to: 1) achieve a unified controller with no mode switches from free motion to contact; and 2) reduce the wrench exerted on the...

Previous research on teleoperation has focused on manipulation of hard objects. However, the design constraints are different in applications that involve manipulation of deformable objects, such as robotic telesurgery. In this paper a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system’s ability to transmit changes in the compliance of the environm...

An experiment to tele-operate a robot arm on a satellite from an onground control station was conducted by an astronaut who has extensive on-orbit experience in operating the Space Shuttle’s robotic arm. This experiment aimed to evaluate / compare a teleoperation system, which we developed, with the teleoperation system of the Space Shuttle Remote Manipulator System (SRMS). There was a time del...

In this paper, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system’s ability to transmit changes in the compliance of the environment. This sensitivity function is appropriate for the application of telesurgery, where the ability to ...

This paper deals with the application of Iterative Learning Control (ILC) to further improve the performance of teleoperation systems based on Smith predictor. The goal is to achieve robust stability and optimal transparency for these systems. The proposed control structure make the slave manipulator follow the master in spite of uncertainties in time delay in communication channel and model pa...

<p>The teleoperation system is often composed of a human operator, local master manipulator, and remote slave manipulator that are connected by communication network. This paper proposes survey on feedback control design for the bilateral systems (BTSs) in nominal situations presence cyber-attacks. The main idea presented methods to achieve stability delayed several kinds cyber attacks. I...