In the past decade robotics and the Internet, fed by the great advances in computing and networking, matured into giant interdisciplinary scientific fields. Therefore, it is not surprising that many are trying to merge these two technologies and develop Internet-based robotic teleoperation. More interestingly, Internet-based bilateral teleoperation, where supermedia is fed back to the operator ...

Asymptotically stable linear time invariant systems are capable of tracking arbitrary reference signals with a bounded error proportional to the magnitude of the reference signal (and its derivatives). It is shown that a similar property holds for a general class of nonlinear dynamical systems which includes all robots. As in the linear case, the error bound may be made "arbitrarily" small by i...

In this paper, we introduce a new adaptive controller design scheme for nonlinear telerobotic systems with varying time delays where the delays and their variation rates are unknown. The designed controller has the ability to synchronize the state behaviors of the local and the remote robots. In this paper, asymptotic stability in the presence of varying time delays is of interest. Using the pr...

This paper describes the development of a tele-robotic rock breaker deployed at a mine over 1000kms from the remote operations centre. This distance introduces a number of technical and cognitive challenges to the design of the system, which have been addressed with the development of shared autonomy in the control system and a mixed reality user interface. A number of trials were conducted, cu...

Telerobotic operation, i.e., a human operator to manipulate remote robotic systems at distance, has started gain its popularity in the construction industry. It is expected help tackle operational challenges dynamic workplaces. The success of telerobotic operation builds on effective design human-robot interface provide operators with necessary senses about workplaces, involving multimodal sens...

Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth o...

The purpose of this paper is to describe the development of a telerobotic system focused on addressing the complex tasks found in real-world deactivation and decommissioning (D&D) activities for the Department of Energy. Because of the large gap between the conditions and constraints required to implement robotic systems and the conditions encountered in in situ D&D work, nearly all D&D activit...

Efficient miniature actuators that are compact and consume low power are needed to drive space and planetary mechanisms in future NASA missions. Ultrasonic rotary motors have the potential to meet this NASA need and they are developed as actuators for miniature telerobotic applications. These motors have emerged in commercial products but they need to be adapted for operation at the harsh space...

Communication delay is an important factor affecting the stability and performance of telerobotic systems. In this paper, a new adaptive proportional damping controller proposed to improve system in presence cases such as asymmetric communication delay, unknown gravity torque, friction other disturbance torques. The control method combines RBF neural network strategy compensate for torque. robu...