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.
Highlights
The methods for remotely controlling robots have evolved over time, and new research and developments have contributed to the fact that the common problems encountered in this area have been decreasing, while the efficiency and stability of communication between the human operator, the robot, and the environment have been improving considerably, allowing the human operator, through a variety of master devices, to explore remote environments and control a robot to complete a task while receiving many kinds of feedback through a bilateral communication channel, that links both sites[1]
The work presented in [12] uses a kinesthetic system that applies forces on the operator′s waist, this haptic force is based on the translation of the robot′s center of pressure (CoP), as a direct
To report the achieved result, we evaluated the time to complete the task, coordination errors, path tracking error, and percentage of successful tests, comparing the use of force feedback against the non-force feedback case for delayed teleoperation of a humanoid robot
Summary
The methods for remotely controlling robots have evolved over time, and new research and developments have contributed to the fact that the common problems encountered in this area have been decreasing, while the efficiency and stability of communication between the human operator, the robot, and the environment have been improving considerably, allowing the human operator, through a variety of master devices, to explore remote environments and control a robot to complete a task while receiving many kinds of feedback through a bilateral communication channel, that links both sites[1]. International Journal of Automation and Computing 18(4), August 2021 measurement of balancing stability using the support polygon Another way to feedback force to the operator is through stiffness, as shown in [13], where a bilateral wearable device uses adjustable muscle actuator modules in order to control a robot, sense the external force, and transmit the motion of contact with the environment. Our work uses force feedback during locomotion (dynamic walks) and manipulation tasks of a humanoid robot both based on the synchronism error, where the main contribution is to analyze how much the force feedback helps the delayed bilateral teleoperation system of a humanoid robot.
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