Human-centered control scheme for delayed bilateral teleoperation of mobile robots

Franco Penizzotto*, Emanuel Slawiñski, Lucio R. Salinas, Vicente A. Mut

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

8 Citations (Scopus)

Abstract

Teleoperation task performance strongly depends on how well the human operators commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers users commands execution in order to achieve a high-performance teleoperation system in some important aspects like time to complete the task, safety, and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user teleoperates a mobile robot via the Internet connection between Argentina and Italy.

Original languageEnglish
Pages (from-to)1253-1268
Number of pages16
JournalAdvanced Robotics
Volume29
Issue number19
DOIs
Publication statusPublished - 2 Oct 2015

Bibliographical note

Publisher Copyright:
© 2015 © 2015 Taylor & Francis and The Robotics Society of Japan.

Keywords

  • bilateral teleoperation
  • command performance
  • force feedback
  • human-robot interaction
  • mobile robot
  • time-delay

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