Teleprogramming: toward delay-invariant remote manipulation
Presence: Teleoperators and Virtual Environments - Premier issue
Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Bilateral Control with Time-Varying Delay including Communication Blackout
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Bilateral teleoperation through the Internet
Robotics and Autonomous Systems
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Sampled Data Systems Passivity and Discrete Port-Hamiltonian Systems
IEEE Transactions on Robotics
Time-delay systems: an overview of some recent advances and open problems
Automatica (Journal of IFAC)
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This paper proposes a control scheme for the teleoperation of a mobile robot in presence of time delay. Our proposal uses a compensation of the time delay based on a human operator's model and a simple 3D augmented reality scheme; both are related through a prediction system. Unlike other strategies, the proposed scheme has a model of the human operator inside it, including his decision so that human and robot “push in the same direction.” The stability of the teleoperation system adding the proposed control scheme is proven concluding how the time delay changes the convergence rate and the convergence ball size. Finally, to illustrate the performance and stability of the proposed control structure, several teleoperation experiments in presence of various delays are shown.