This paper considers legged robot teleoperation using advanced supervisory tools. It is nowaday recognized that designing completely autonomous robots to act on unstructured or not well known environments is an utopic goal. Human operator must be kept in the control loop (supervision) during the exploratory or manipulation procedure. We propose to use virtual reality (VR) technology to enhance ...

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...

This paper presents a platform-based teleoperation control approach of symbiotic human-robot system. With frame-based knowledge representation, features of robots, human-robot interface and cooperative operation of symbiotic human-robot system are defined in the Software Platform of Agents and Knowledge Management (SPAK). By means of this software platform, human can communicate with robots usi...

In the last few years, robot teleoperation systems have been improved with the advances in computer networks, virtual reality and graphical user interfaces. However, teleoperation applications for multiple and different robots in networked virtual environments are not available for all kind of users. This paper presents a collaborative multiuser system for multiple simultaneous robot teleoperat...

In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF robots and e...

Teleoperation has been a key drive for robotics research as many tasks need to be performed remotely. These tasks occur in a broad application domain, ranging from deep sea to outer space, and are typical in environments that are dangerous and/or hard to reach. Traditionally, during teleoperation, the robot motion is directly controlled by the operator. In such systems, the performance of the o...

Abstract. Future space explorations necessitate manipulation of space structures in support of extra vehicular activities or extraterrestrial resource exploitation. In these tasks robots are expected to assist or replace human crew to alleviate human risk and enhance task performance. However due to the vastly unstructured and unpredictable environmental conditions, automation of robotic task i...

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics by using the passive-decomposition: the shape-system describing dynamics of the cooperative works, and the locked-system represe...

Abstract It has been well documented that children perceive robots as social, mental, and moral others. Studies on child-robot interaction may encourage this perception of robots, first, by using a Wizard Oz (i.e., teleoperation) set-up and, second, having engage in self-description. However, much remains unknown about the effects transparent teleoperation self-description children’s of, relati...