Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system’s performance and cause instability. An important approach that guarantees stability for any fixed time delay is the wave variable method. In this paper we present some recent material dealing with teleoperation systems using wave var...

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 ...

Teleoperation of humanoid robots enables the integration cognitive skills and domain expertise humans with physical capabilities robots. The operational versatility makes them ideal platform for a wide range applications when teleoperating in remote environment. However, complexity imposes challenges teleoperation, particularly unstructured dynamic environments limited communication. Many advan...

Sensor fusion is commonly used to reduce uncertainty in localization, obstacle detection, and world modeling. However, sensor fusion can also be used to improve teleoperation. In particular, we can use sensor fusion to create user interfaces which efficiently convey information, facilitate understanding of remote environments and improve situational awareness. We do this by selecting complement...

We have developed a framework for asynchronous mobile robot teleoperation using the Planet mobile object system. Planet enables asynchronous object passing, so that network bandwidth is used effectively and that such parameters as the network condition and server states have less effect on the system. We have used this framework to design an asynchronous mobile robot teleoperation system and ha...

Due to the technology available, most previous work in teleoperated robotics used relatively low-resolution video links and provided limited perceptual feedback to the teleoperator. In most cases, these projects reported only limited teleoperator success compared to vehicles with human drivers on-board. We set out to build a high-fidelity teleoperation system which takes advantage of recent tec...

In order to help the user to accomplish a task, teleoperation systems have to integrate different tools such as visualization, divers interaction devices, planning tools, etc.... The interface must be able to give complete information of the real world and the user can, using a distributed platform, be helped by others users as well as by autonomous robots. The objective of our project is to co...

The field of robot Learning from Demonstration (LfD) makes use of several input modalities for demonstrations (teleoperation, kinesthetic teaching, markerand vision-based motion tracking). In this paper we present two experiments aimed at identifying and overcoming challenges associated with using teleoperation as an input modality for LfD. Our first experiment compares kinesthetic teaching and...

Multilateral systems involving haptic information sharing between several users have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. It is intuitively understood that some tasks are performed more effectively with two hands or through collaboration than one hand or individual operation. By using multiple user interfaces (“masters”) and o...

Teleoperation means to operate a robot or a system from a distant location. Teleoperation is useful when the operating environment is dangerous, impractical or when achieving a specific vehicle for inspection environment is too expensive. Mobile robots can be considered as an example of teleoperation system because they can be remotely controlled to perform certain specific tasks. This paper is...