In this paper, the problem of external sensors within bilateral teleoperation is addressed. We propose a Phase Locked Loop (PLL) αβ-tracker that presents an enhanced approach for position and velocity estimation. The proposed approach offers some advantages over the method presented in our previous research that was introduced to enable pseudo-sensorless teleoperation. Such approach applies PML...

The goal of this project is to make the vehicle teleoperation (remote driving) accessible to all users, novices and experts alike. To achieve this, Carnegie Mellon University (CMU) and the Swiss Federal Institute of Technology at Lausanne (EPFL) are collaborating to investigate advanced teleoperation operator interfaces. Under this joint research effort, a new system model for teleoperation, We...

Surgical teleoperation systems are being increasingly deployed. There are, however, remaining issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues, and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to offer a general approach to designing the overall control structure. This paper a...

This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type manipulators in open environments, particularly quadruped However, manipulators, especially are relatively novel systems to be implemented industry compared traditional machinery. Consequently, no method has been establishe...

Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is clearly sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, I believe it is worthwhile to examine a new teleoperation approach: collaborative control. In this robot-centric model, instead of the human alw...

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...

This thesis deals with the teleoperation of a ground vehicle, specifically the construction processes associated with actuating the vehicle and the computer systems necessary for its control. The primary objectives of this thesis are to present the successes and failures of developing a ground vehicle platform to be used for teleoperation, to outline the computer architecture needed for wireles...

Ground control of unmanned aerial vehicles (UAV) is a key to the advancement of this technology for commercial purposes. The need for reliable ground control arises in scenarios where human intervention is necessary, e.g. handover situations when autonomous systems fail. Manual flights are also needed for collecting diverse datasets to train deep neural network-based control systems. This axiom...

A novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at the master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of ...