L. Wyard-Scott and Q.-H. M. Mengy Advanced Robotics & Teleoperation (ART) Lab Department of Electrical Engineering University of Alberta Edmonton, AB, T6G 2G7, CANADA E-mail: [email protected], [email protected] Abstract| This paper presents the design of a teleoperated mobile robot test bed developed at the Advanced Robotics and Teleoperation Lab, University of Alberta. A brief mechanica...

In this paper, we seek to model natural human-robot interactions in human-robot teams that support adjustable autonomy and interactions. We present a theoretical characterization of interaction efficiency. We then perform case studies to validate this theoretical framework. Specifically, in one case study we compare interaction efficiency between a shared control teleoperation algorithm and tra...

The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force. Furthermore, two types of multilateral sh...

In this paper, we present two Human-Robot interfaces for underwater robot teleoperation. This work is in the context of the Digital Ocean Europe project 1 that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive, virtually animated environments that are diffused online. The work presented in this paper concerns...

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port c...

This paper extends earlier results o n stable forcereflecting teleoperatron in the presence of significant time-delays t o the case, frequent in practice, where the transmission delays are themselves varying with t ime in a n unpredictable jashion. It shows that stability can be preserved through the systematic use of specially designed wave-variable filters. The resulting performance of the te...

The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop syste...