Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation

In a previous paper we considered the bilateral teleoperation of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results using the proposed passivity based control law. Our goal is to illustrate and validate the properties of the proposed scheme. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez, C. T. Abdallah
• Keywords: Communication Channel, Constant Time Delay, IROS 2006, Robotics, Time Delay