In this paper several control strategies and feedback information for teleoperation of a mobile robot are described and analyzed. Main objective is to verify the role of different types of feedback information and command strategies. Three control strategies which combined position-speed and position-position control modes are analyzed. Position-speed and positionposition command strategies are...

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...

Abstract: This paper presents an QoS (quality of service) based control system of teleoperation via the Internet. Quality of service on the Internet refers to a set of quality requirements on the performance of the data transmission necessary to achieve the required functionality of an application. The quality of data transmission via the Internet is measured or reflected by a set of QoS parame...

Many studies have been conducted for quantitative/qualitative analysis and comparison of various teleoperation schemes. Position-position, force-position and 4-channels are to name a few. However most of this research has been focused on electrically actuated manipulators. This paper documents the comparative study of various teleoperation schemes explicitly for hydraulic manipulators. Identica...

Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication lin...

This paper presents a mechatronic analysis of a teleoperation system that provides haptic feedback. The analysis, based on the Bounded Environment Passivity method, describes the combined effect of the teleoperation controller and the master and slave hardware, including the effect of structural flexibilities, which have often been neglected in the domain of teleoperation. This results in rules...

This paper presents a new type of wearable teleoperation system that is applicable to a humanoid robot control. The proposed wearable teleoperation system consists of a self-contained computing hardware with a stereo HMD, a microphone, a headphone and a wireless LAN, an arm and head motion tracking mechanism using several types of sensors to get the motion data of an operator, and simple force ...

The objective of this paper is to describe the modeling of a single degree-of-freedom (DOF) teleoperation system by using the Matlab software tool. Modeling a teleoperation system consists of the modeling of the dynamics and kinematics of two subsystems as well as the communication line between them to couple the systems and user interface to interact with the system. The subsystems of a teleop...

Today, most commercially available UGVs use teleoperation for control. Under teleoperation, users’ hands are occupied holding a handheld controller to operate the UGV, and their attention is focused on what the robot is doing. In this paper, we propose an alternative called Heads-up, Hands-free Operation, which allows an operator to control a UGV using operator following behaviors and a gesture...

Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoper...