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Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot

Published online by Cambridge University Press:  14 July 2020

Viviana Moya Open the ORCID record for Viviana Moya [Opens in a new window] ,
Emanuel Slawiñski  and
Vicente Mut
Viviana Moya*
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, San Juan, Argentina Emails: slawinski@inaut.unsj.edu.ar; vmut@inaut.unsj.edu.ar
Emanuel Slawiñski
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, San Juan, Argentina Emails: slawinski@inaut.unsj.edu.ar; vmut@inaut.unsj.edu.ar
Vicente Mut
Affiliation:
Instituto de Automática (INAUT), Universidad Nacional de San Juan, San Juan, Argentina Emails: slawinski@inaut.unsj.edu.ar; vmut@inaut.unsj.edu.ar
*
*Corresponding author. E-mail: vmoya@inaut.unsj.edu.ar
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Summary

This paper proposes a shared control scheme which aims to achieve a stable control of the speed and turn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value that must be injected to assure a bounded response of the hybrid system, while simultaneously, the human operator receives a force feedback that help him to decrease the synchronism error. Furthermore, a test where a human operator handles the walking of a simulated bipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.

Keywords

Bilateral teleoperationBipedal robotTime-varying delayTurnStable walk.
Type
Articles
Information
Robotica , Volume 39 , Issue 4 , April 2021 , pp. 633 - 651
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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