Abstract
Teleoperation systems allow the extension of human capabilities to remote-control devices by providing the operator with conditions similar to those at the remote site through a communication channel that sends information from one site to the other. This article aims to present an analysis of the benefits of force feedback applied to the bilateral teleoperation of a humanoid robot with time-varying delay. As a control scheme, we link adaptive inverse dynamics compensation, balance control, and P+d like controllers. Finally, a test is performed where an operator simultaneously handles the locomotion (forward velocity and turn angle) and arm of a simulated 3D humanoid robot to do a pick-and-place task using two master devices with force feedback, where indexes such as time to complete the task, coordination errors, path tracking error, and percentage of successful tests are reported for different time-delays. We conclude with the results achieved.
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Viviana Moya received M. Eng. degree in electronics and control from National Polytechnic School, Ecuador in 2016. She is a Ph. D. degree candidate in control systems engineering from National University of San Juan, Argentina with a DAAD scholarship from Germany.
Her research interests include teleoperation systems and automatic control.
Emanuel Slawiñski received the Ph.D. degree in control systems engineering from National University of San Juan (UNSJ), Argentina in 2006. He is a researcher at the National Council of Scientific and Technical Investigations of Argentina (CONICET) and a professor at the UNS J.
His research interests include delayed bilateral teleoperation systems, human factors, haptic feedback, human-robot interaction, and software development.
Vicente Mut received the Ph.D. degree in control systems engineering from National University of San Juan, Argentina in 1987. He is a professor at the UNSJ, developing research activities and teaching at the graduate and postgraduate programs at the Automatics Institute and the Department of Electronics and Automatics, National University of San Juan, Argentina.
His research interests include robotics, manufacturing systems, adaptive control, and artificial inteUigence applied to automatic control.
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Moya, V., Slawiñski, E. & Mut, V. Delayed Teleoperation with Force Feedback of a Humanoid Robot. Int. J. Autom. Comput. 18, 605–618 (2021). https://doi.org/10.1007/s11633-020-1267-7
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DOI: https://doi.org/10.1007/s11633-020-1267-7