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Chapter 43 — Telerobotics

Günter Niemeyer, Carsten Preusche, Stefano Stramigioli and Dongjun Lee

In this chapter we present an overview of the field of telerobotics with a focus on control aspects. To acknowledge some of the earliest contributions and motivations the field has provided to robotics in general, we begin with a brief historical perspective and discuss some of the challenging applications. Then, after introducing and classifying the various system architectures and control strategies, we emphasize bilateral control and force feedback. This particular area has seen intense research work in the pursuit of telepresence. We also examine some of the emerging efforts, extending telerobotic concepts to unconventional systems and applications. Finally,we suggest some further reading for a closer engagement with the field.

Semi-autonomous teleoperation of multiple UAVs: Passing a narrow gap

Author  Antonio Franchi, Paolo Robuffo Giordano

Video ID : 71

This video shows the bilateral teleoperation of a group of four quadrotors UAVs navigating in a cluttered environment. The human operator provides velocity-level motion commands and receives force-feedback information on the UAV interaction with the environment (e.g., presence of obstacles and external disturbances).

Semi-autonomous teleoperation of multiple UAVs: Tumbling over an obstacle

Author  Antonio Franchi, Paolo Robuffo Giordano

Video ID : 72

This video shows the bilateral teleoperation of a group of four quadrotor UAVs navigating in a cluttered environment. The human operator provides velocity-level motion commands and receives force-feedback information on the UAV interaction with the environment (e.g., presence of obstacles and external disturbances).

Bilateral teleoperation of multiple quadrotors with time-varying topology

Author  Antonio Franchi, Paolo Robuffo Giordano

Video ID : 73

This video shows the bilateral teleoperation of a group of four quadrotors UAVs navigating in a cluttered environment. The human operator provides velocity-level, motion commands and receives force-feedback information on the UAV interaction with the environment (e.g., presence of obstacles, external disturbances). The coordination within the group is achieved via a fully decentralized control scheme.

Passive teleoperation of a nonlinear telerobot with tool-dynamics rendering

Author  Dongjun Lee

Video ID : 74

This is a video showing the passive teleoperation of nonlinear master-slave robots using passive decomposition, which enables master-slave coordination, apparent inertia scaling, and tool-dynamics rendering.

Asymmetric teleoperation of dual-arm mobile manipulator

Author  Pawel Malysz, Shahin Sirouspour

Video ID : 75

The video presents an experiment demonstrating a dual-master system to teleoperate a single-slave mobile manipulator system with haptic feedback for the remote-block transfer task.

Tele-existence, master-slave system for remote manipulation

Author  Susumu Tachi, Hirohiko Arai, Taro Maeda

Video ID : 297

A tele-existence, master-slave system for remote manipulation experiments is designed and developed, and an evaluation experiment of a tele-existence master-slave system is conducted. Presented at ICRA 1991.

JPL dual-arm telerobot system

Author  Antal K. Bejczy, Zoltan Szakaly

Video ID : 298

This video shows a dual-arm, force-reflecting telerobotic system developed by the Jet Propulsion Laboratory for space teleoperation applications of kinematically and dynamically different slave systems. Presented at ICRA 1990.

Single- and dual-arm supervisory and shared control

Author  Paul S. Schenker, Antal K. Bejczy, Won S. Kim

Video ID : 299

This video shows single- and dual-arm supervisory and shared teleoperation control for the remote repair of solar panels attached to a space satellite.

Teleoperated hmanoid robot - HRP

Author  O. Miki, T. Itoko, K. Sawada, T. Nishiyama, K. Hira, S. Nakayama, H. Inaba, M. Sudo, K. Tanie, K. Yokoi, S. Hira, H. Hirukawa, H. Inoue, S. Tachi

Video ID : 318

This video shows a tele-existence system to teleoperate a humanoid robot HRP using multimodal feedback and integrated whole-body perception and control. Presented at ICRA 2001.

Teleoperated humanoid robot - HRP: Tele-driving of lifting vehicle

Author  Masami Kobayashi, Hisashi Moriyama, Toshiyuki Itoko, Yoshitaka Yanagihara, Takao Ueno, Kazuhisa Ohya, Kazuhito Yokoi

Video ID : 319

This video shows the teleoperation a humanoid robot HRP using whole-body multimodal tele-existence system. The human operator teleoperates the humanoid robot to drive a lifting vehicle in a warehouse. Presented at ICRA 2002.