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SimNav-XR: an extended reality platform for mobile robot simulation using ROS2 and Unity3D. [PDF]
Front Robot AIAryan P +3 more
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A Systematic Review of Multilateral Teleoperation Systems
IEEE Transactions on Haptics, 2018While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in ...
Mahya Shahbazi +2 more
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A hybrid position–rate teleoperation system
Robotics and Autonomous Systems, 2021Abstract Position resolution is a major problem in teleoperation applications with significant disparity between master and slave workspace. While rate mode control is suitable for slave free motion operations, it poses significant stability and performance challenges for task manipulation.
Chiedu Nnaji Mokogwu +1 more
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Towards the assisted teleoperation systems
2012 IV International Congress on Ultra Modern Telecommunications and Control Systems, 2012This paper describes the proposed humanoid robot teleoperation system capable of task learning through teleoperation. The system is based on the task rule extraction from the data acquired by monitoring a human operator during the teleoperation process.
Martin Pala, Peter Sincak
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Adaptive teleoperation systems design
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005., 2005In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time ...
Kamal Hosseini-Sunny +2 more
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A teleoperation system with an exoskeleton interface
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013In this paper, a teleoperation system with an exoskeleton interface is proposed. An upper-limb exoskeleton worn by a user acts as an interface between the user and a robot in a remote place by exchanging position and force information via the Internet. The robot performs a dexterous task by following the upper-limb motion. The applied external force to
Inseong Jo, Younkyu Park, Joonbum Bae
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Transparency in Time for Teleoperation Systems
2008 IEEE International Conference on Robotics and Automation, 2008This paper proposes defining transparency in the time domain and establishes a quantitative measure of how the human operator "feels" the remote system in a teleoperation system. The main advantage of the proposed definition and measure of transparency with respect to the other ones is that they allow analyzing the effect of the time-varying delay and ...
Emanuel Slawiñski, Vicente A. Mut
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Teleoperated system performance evaluation
IEEE Transactions on Systems, Man, and Cybernetics, 1994Measures for the evaluation of teleoperated system performance are considered. The paper discusses the predominant use of time to task completion for performance evaluation and proposes three new measures based on an analysis of manipulator motions. The new measures include manipulator joint effort, manipulator dexterity and end effector motion effort.
Gerard F. McLean +2 more
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