Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot

Vivana Moya; Emanuel Slawiñski; Vicente A. Mut; Bernardo Wagner

Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot

Vivana Moya
, Emanuel Slawiñski
, Vicente A. Mut
, Bernardo Wagner

Real Time Systems Section

Universidad Nacional de San Juan

Research output: Contribution to journal › Article › Research › peer review

Abstract

This document proposes a control scheme applied to delayed bilateral-by-phases teleoperation of the locomotion and manipulation of a humanoid robot, where each phase works depending on the decision of the human operator. Besides, balance control, adaptive controller, and force feedback are applied. The implementation is described and the results obtained from experiments of intercontinental teleoperation for a pick and place task with a NAO robot-driven at distance with a haptic device, are shown and summarized.

Original language	English
Pages (from-to)	64–72
Journal	IEEE Latin America Transactions
Volume	20
Issue number	1
Publication status	Published - 27 May 2021

Access to Document

https://latamt.ieeer9.org/index.php/transactions/article/view/5054

Cite this

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title = "Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot",

abstract = "This document proposes a control scheme applied to delayed bilateral-by-phases teleoperation of the locomotion and manipulation of a humanoid robot, where each phase works depending on the decision of the human operator. Besides, balance control, adaptive controller, and force feedback are applied. The implementation is described and the results obtained from experiments of intercontinental teleoperation for a pick and place task with a NAO robot-driven at distance with a haptic device, are shown and summarized.",

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AB - This document proposes a control scheme applied to delayed bilateral-by-phases teleoperation of the locomotion and manipulation of a humanoid robot, where each phase works depending on the decision of the human operator. Besides, balance control, adaptive controller, and force feedback are applied. The implementation is described and the results obtained from experiments of intercontinental teleoperation for a pick and place task with a NAO robot-driven at distance with a haptic device, are shown and summarized.

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