Delayed Teleoperation with Force Feedback of a Humanoid Robot

doi:10.1007/s11633-020-1267-7

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	Delayed Teleoperation with Force Feedback of a Humanoid Robot
	Viviana Moya; Emanuel Slawiñski; Vicente Mut
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2021
卷号	18 期号:4 页码:605-618
摘要	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.
关键词	Humanoid robot bilateral teleoperation time delay force feedback walking manipulation
DOI	10.1007/s11633-020-1267-7
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45067
专题	学术期刊_Machine Intelligence Research
作者单位	Institute of Automation, National University of San Juan, San Martin 5400, Argentina
推荐引用方式 GB/T 7714	Viviana Moya,Emanuel Slawiñski,Vicente Mut. Delayed Teleoperation with Force Feedback of a Humanoid Robot[J]. International Journal of Automation and Computing,2021,18(4):605-618.
APA	Viviana Moya,Emanuel Slawiñski,&Vicente Mut.(2021).Delayed Teleoperation with Force Feedback of a Humanoid Robot.International Journal of Automation and Computing,18(4),605-618.
MLA	Viviana Moya,et al."Delayed Teleoperation with Force Feedback of a Humanoid Robot".International Journal of Automation and Computing 18.4(2021):605-618.

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