A construction robot generally includes some actuators, and has sufficient power to carry out tasks that are difficult for humans. The application of such robots in environments that are dangerous for humans such as disaster scenes, space and the deep sea ground is becoming more and more important. Teleoperation is the most effective method of controlling these robots, and teleoperation systems...

This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed-loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master...

Multidomal telepresence systems have been used in remote or hazardous environments, such as telesurgery, orbit or underwater teleoperation, etc. (Ballantyne, 2002; Draper et al., 1998; Hirzinger et al., 1993). In a typical teleoperation task, local action commands are transmitted to a remote teleoperator, which then executes the commands and sends back multimodal sensory information, such as vi...

Our goal is to make vehicle teleoperation accessible to all users. To do this, we are developing easy-to-use yet capable Web tools which enable efficient, robust teleoperation in unknown and unstructured environments. Webbased teleoperation, however, raises many research issues, as well as prohibiting the use of traditional approaches. Thus, it is essential to develop new methods which minimize...

In the past decade robotics and the Internet, fed by the great advances in computing and networking, matured into giant interdisciplinary scientific fields. Therefore, it is not surprising that many are trying to merge these two technologies and develop Internet-based robotic teleoperation. More interestingly, Internet-based bilateral teleoperation, where supermedia is fed back to the operator ...

This paper considers adding autonomy to robot hands used in teleoperation systems. Currently, the finger positions of robot hands in teleoperation systems are controlled via a robot master using a Dataglove or exoskeleton. There are several difficulties with this approach: accurate calibration is hard to achieve; robot hands have different capabilities from human hands; and complex force reflec...

We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis. Mobile robot teleoperation systems have two major differences when they are compared with conventional bilateral teleoperators: first, rate mode control is used; second, absence of physical interaction of the robot with...

Many tasks done easily by humans turn out to be very difficult to accomplish with a teleoperated robot. The main reason for this is the lack of tactile sensing, which cannot be replaced by visual feedback alone. Once haptic devices were developed, their potential in many fields was obvious. Especially in teleoperation systems, where haptic feedback can increase the efficiency and even render so...