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Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot
Viviana Moya, Emanuel Slawiñski, Vicente Mut
Journal:

Robotica / Volume 39 / Issue 4 / April 2021

Published online by Cambridge University Press:

14 July 2020, pp. 633-651
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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.