Bilateral Teleoperation through Networks

Internet-based Bilateral Teleoperation

Neuro-fuzzy control of bilateral teleoperation system using FPGA

This paper presents an adaptive neuro-fuzzy controller ANFIS (Adaptive Neuro-Fuzzy Inference System) for a bilateral teleoperation system based on FPGA (Field Programmable Gate Array). The proposed controller combines the learning capabilities of neural networks with the inference capabilities of fuzzy logic, to adapt with dynamic variations in master and slave robots and to guarantee good prac...

Bilateral parallel force/position teleoperation control

The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop syste...

Bilateral Teleoperation of Flexible Surgical Robots

We introduce a position-exchange controller for bilateral teleoperation of flexible surgical robots. The controller requires the position of the master arm and the deformed shape of the slave arm, but no force information is required. The position-tracking controller of the master arm causes the master arm to follow the position of the tip of the slave arm. The position tracking controller of t...

Stability and transparency in bilateral teleoperation

ASpace applications of telerobots are characterized by significant communication delays between operator commands and resulting robot actions at a remote site. A high degree of telepresence is also desired to enable operators to safely conduct teleoperation tasks. This paper provides tools for quantifying teleoperation system performance and stability when communication delays are present. A ge...