4 accepted papers
Model-Mediated Teleoperation (MMT) is a form of teleoperation where a model is used to display operator commands to the environment and environmental feedback to the operator. This circumvents the performance-stability trade-off to which many other teleoperation methods are prone under high time del
Force feedback generally increases the effectiveness of execution and sense of embodiment on telemanipulation systems. However, systems with force feedback are vulnerable to time delays, reducing their transparency and stability. In this letter, we implement a bi-directional impedance reflection con
In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling o…
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly addressed. In this work, we propose a passive control architect…