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 language | English |
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Pages (from-to) | 1253-1268 |
Number of pages | 16 |
Journal | Advanced Robotics |
Volume | 29 |
Issue number | 19 |
DOIs | |
Publication status | Published - 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