Delayed Teleoperation with Force Feedback of a Humanoid Robot

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.

Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays

“…Adequate use of force feedback allows for decreasing those errors [11,27]. We point out the work is focused on reaching a controller to ensure bounded errors despite these time delays, and not on optimizing the perception level.…”

“…Following the procedure described in reference [11] along the trajectories of the closed-loop system, considering the follower robot, leader dynamics, time delay, and human operator and environment forces, is bounded by:…”

“…Quantifying this margin represents the basic principle involved in force feedback generation. On the other hand [10,11], we consider dynamic walking with a force cue based on the coordination error but both use equivalents followers and controllers that are not formally defned, lacking thus the explicit link between the stability of the limit cycle using Poincaré map about the walking and the stability of the errors of delayed teleoperation system.…”