Teleoperation technology allows to remotely operate robotic (slave) systems located in hazardous, risky and distant environments. The human operator sends commands through the controller (master) system to execute the tasks from a distance. The operator is provided with necessary (visual, audio or haptic) feedback to accomplish the mission remotely. In bilateral teleoperation, continuous feedba...

Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative...

In bilateral teleoperation, the operator holds a local robot which determines the motion of a remote robot and continuously receives delayed force feedback. Transparency is a measure of teleoperation system fidelity. The ideal teleoperator system is the identity channel, in which there is neither delay nor distortion. During the last decades transparency was widely analyzed using two-port hybri...

Systems and Algorithms for Collaborative Teleoperation

In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that tran...

This article studies the stability and performance of teleoperation systems under the effect of constant and variable time delays by employing the wave variable method. In particular, the effect of wave variables on the stability of a multi-degree-of-freedom forcereflecting system is demonstrated on a three-axis robot and initial simulation results are presented. Also, the multi-degree-of-freed...

This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii)...

This paper describes the requirements for user interfaces for teleoperation of mining vehicles and systems. The current status of teleoperation in mining is outlined. Current commercial interfaces are relatively unsophisticated, evolving from line-of-sight remote control systems with the addition of video displays. The user interfaces for two experimental teleoperated systems, the Numbat emerge...

This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii)...

This paper presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. Such systems (modelled as n -port networks) have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. The criterion provides researchers with an analytical, closed-form, necessary and sufficient condition useful for both anal...