Bilateral teleoperation: An historical survey

Authors:
Peter F. Hokayem;Mark W. Spong
Affiliations:
Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, 1308 W. Main St., Urbana, IL 61801, USA;Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, 1308 W. Main St., Urbana, IL 61801, USA
Venue:
Automatica (Journal of IFAC)
Year:
2006

Citing 7
Cited 47

Telerobotics

Automatica (Journal of IFAC)
Toward Robust Passivity: A Passive Control Implementation Structure for Mechanical Teleoperators

HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Achieving transparency for teleoperator systems under position and rate control

IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators

IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay

IEEE Transactions on Robotics
On tracking performance in bilateral teleoperation

IEEE Transactions on Robotics
Remote control in telerobotic surgery

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

Force Reflecting Bilateral Control of Master---Slave Systems in Teleoperation

Journal of Intelligent and Robotic Systems
Brief paper: Synchronization of bilateral teleoperators with time delay

Automatica (Journal of IFAC)
Teleoperation of a Robot Using a Haptic Device with Different Kinematics

EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
6DOF Haptic Cooperative Virtual Prototyping over High Latency Networks

EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
A Scaled Bilateral Control System for Experimental One-dimensional Teleoperated Nanomanipulation

International Journal of Robotics Research
Position Tracking for Non-linear Teleoperators with Variable Time Delay

International Journal of Robotics Research
Adaptive/robust control for time-delay teleoperation

IEEE Transactions on Robotics
Survey on bilateral teleoperation of mobile robots

RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

ACC'09 Proceedings of the 2009 conference on American Control Conference
Control of robotic manipulators with input/output delays

ACC'09 Proceedings of the 2009 conference on American Control Conference
Experimental studies on improving safety in haptic and teleoperation systems

ACC'09 Proceedings of the 2009 conference on American Control Conference
Delay-independent stabilization for teleoperation with time varying delay

ACC'09 Proceedings of the 2009 conference on American Control Conference
Nonlinear bilateral teleoperation: stability analysis

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Asymptotic stability of teleoperators with variable time-delays

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Nonlinear and filtered force/position mappings in bilateral teleoperation with application to enhanced stiffness discrimination

IEEE Transactions on Robotics
Bilateral teleoperation under time-varying delay using wave variables

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bilateral controller design based on transparency in the state convergence framework

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A time-varying wave impedance approach for transparency compensation in bilateral teleoperation

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
1kHz is not enough: how to achieve higher update rates with a bilateral teleoperation system based on commercial hardware

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Scaling and eliminating non-contact forces and torques to improve bilateral teleoperation

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Using prediction to enhance remote robot supervision across time delay

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stability of haptic obstacle avoidance and force interaction

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Teleoperation with kinematically redundant robot manipulators with sub-task objectives*

Robotica
Control scheme including prediction and augmented reality for teleoperation of mobile robots

Robotica
Asynchronous control of unstable linear systems via L2-gain-based

ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Transparency analysis and haptic synchronization for transparency of force-reflecting teleoperation

Proceedings of the 8th Annual Workshop on Network and Systems Support for Games
Polytopic representation of impedance model with feedback delay

ACMOS'10 Proceedings of the 12th WSEAS international conference on Automatic control, modelling & simulation
Extended TP model transformation for polytopic representation of impedance model with feedback delay

WSEAS Transactions on Systems and Control
Brief paper: Passive position error correction in Internet-based teleoperation

Automatica (Journal of IFAC)
A coordinating controller for improved task performance in multi-user teleoperation

EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Passivity-based control for bilateral teleoperation: A tutorial

Automatica (Journal of IFAC)
Trends in the control schemes for bilateral teleoperation with time delay

AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Bilateral teleoperation system with time varying communication delay: stability and convergence

AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Trilateral teleoperation control of kinematically redundant robotic manipulators

International Journal of Robotics Research
Teleoperation of a mobile robot with time-varying delay and force feedback

Robotica
Internet-based operation of autonomous robots: The role of data replication, compression, bandwidth allocation and visualization

Journal of Field Robotics
Adaptive fuzzy logic control for time-delayed bilateral teleoperation

AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays

Journal of Intelligent and Robotic Systems
Bilateral control by state convergence based on transparency for systems with time delay

Robotics and Autonomous Systems
A small gain framework for networked cooperative force-reflecting teleoperation

Automatica (Journal of IFAC)
Adaptive Control of Bilateral Teleoperation with Time Delay

International Journal of Intelligent Mechatronics and Robotics
Control of semi-autonomous teleoperation system with time delays

Automatica (Journal of IFAC)
Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay

Neurocomputing
Coordination control for bilateral teleoperation with kinematics and dynamics uncertainties

Robotics and Computer-Integrated Manufacturing
Control schemes for passive teleoperation systems over wide area communication networks with time varying delay

International Journal of Automation and Computing
Slaves no longer: review on role assignment for human-robot joint motor action

Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Repetitive control of servo systems with time delays

Robotics and Autonomous Systems

Quantified Score

Hi-index	22.15

Visualization

Abstract

This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications. We focus on the control theoretic approaches that have been developed to address inherent control problems such as delays and information loss. Exposure to several concurrent applications is provided, and possible future trends are outlined.