Delayed Teleoperation with Force Feedback of a Humanoid Robot
文献类型：期刊论文
| 作者 | Viviana Moya; Emanuel Slawiñski; Vicente Mut |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2021 |
| 卷号 | 18期号:4页码:605-618 |
| 关键词 | Humanoid robot bilateral teleoperation time delay force feedback walking manipulation |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-020-1267-7 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45067]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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