A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily The International Journal of Robotics Research Vol. 20, No. 6, June 2001, pp. 419-445, ©2001 Sage Publications © 2001 SAGE Publications. All rights reserved. N at P http://ijr.sagepub.com Downlo...

Teleoperation of humanoid robots enables the integration cognitive skills and domain expertise humans with physical capabilities robots. The operational versatility makes them ideal platform for a wide range applications when teleoperating in remote environment. However, complexity imposes challenges teleoperation, particularly unstructured dynamic environments limited communication. Many advan...

Sensor fusion is commonly used to reduce uncertainty in localization, obstacle detection, and world modeling. However, sensor fusion can also be used to improve teleoperation. In particular, we can use sensor fusion to create user interfaces which efficiently convey information, facilitate understanding of remote environments and improve situational awareness. We do this by selecting complement...

We have developed a framework for asynchronous mobile robot teleoperation using the Planet mobile object system. Planet enables asynchronous object passing, so that network bandwidth is used effectively and that such parameters as the network condition and server states have less effect on the system. We have used this framework to design an asynchronous mobile robot teleoperation system and ha...

Due to the technology available, most previous work in teleoperated robotics used relatively low-resolution video links and provided limited perceptual feedback to the teleoperator. In most cases, these projects reported only limited teleoperator success compared to vehicles with human drivers on-board. We set out to build a high-fidelity teleoperation system which takes advantage of recent tec...

The field of robot Learning from Demonstration (LfD) makes use of several input modalities for demonstrations (teleoperation, kinesthetic teaching, markerand vision-based motion tracking). In this paper we present two experiments aimed at identifying and overcoming challenges associated with using teleoperation as an input modality for LfD. Our first experiment compares kinesthetic teaching and...