Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot
- Moya, Viviana
- Slawiñski, Emanuel
- Mut, Vicente Antonio
DOIAbstract
This paper proposes a shared control scheme which aims to achieve a stable control of the speed andturn 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 thesynchronism error. Furthermore, a test where a human operator handles the walking of a simulatedbipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.Fil: Moya, Viviana. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad...
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