The paper outlines key technologies in DLR’s approach to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) the tele-sensor-programming concept is introduced that allows sensor-based teleoperation despite of large signal delays as well as sensor-based offline programming following a ’...

In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subjected to time-varying time delays in their communication channel and sandwich linearity in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and ...

We propose Robot Wireless Sensor Networks (RWSNs) management method for maintaining wireless communication connectivity for a mobile robot teleoperation with considering a distance between sensor nodes. Recent studies for reducing disaster damage focus on a disaster area information gathering in underground spaces. Since information gathering activities in such post disaster underground spaces ...

Since the performance of the teleoperation systems can be considerably degraded by time-delay of communication channels and uncertainty in various parts of such systems, the main objectives of the controller design in loads of different structures of the bilateral teleoperation system are to preserve stability and tracking performance of these systems in spite of aforementioned sources of uncer...

In the presence of communication latency in a bilaterally controlled teleoperation system, stability and transparency are severely affected. In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channels, which warrant different bilateral control architectures, are introduced. Wave transforms and signal filtering are used to make the dela...

Spatial skills are critical for robot teleoperation. For example, in order to make a judgment of relative direction when operating a robot remotely, one must take different perspectives and make decisions based on available spatial information. Training spatial skills is thus critical for robot teleoperation, yet, current training programs focus primarily on psycho-motoric skills of the task, a...

A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture designed for the above impedance models i...

Bilateral teleoperation provides human operators with the ability to manipulate and receive force feedback from distant objects. Teleoperation is applied in various areas such as space robotics, handling hazardous materials, and surgery. Using teleoperated robots in space exploration reduces costs of assembly, maintenance, and repair tasks, as well as the risk that accompanies extra vehicular a...

For robot teleoperation systems, tablet and smart phone user interfaces provide portability and accessibility to allow anyone anywhere to connect to the system quickly and easily. This can be highly advantageous for disaster-relief robot systems where timing is critical. However, the small screen size and unconventional input methods mean that traditional teleoperation user interface elements, ...

Computer-aided teleoperation (CAT) is investigated for extending human eye-hand motion coordination and dexterity. A telerobotic system consisting of a master arm and a slave arm interconnected by a computer network is designed. The proposed system is evaluated using a set of experiments which are (1) operating drawers, (2) pouring of water, and (3) wirewrapping. The non deterministic behavior ...