Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots

Autores
Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s commands execution in order to achieve a high performance teleoperation system in some important aspects like time to complete the task, safety and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop (HITL) simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user tele-operates a mobile robot via Internet connection between Argentina and Italy.
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Human-Robot Interaction
Command Performance
Bilateral Teleoperation
Force Feedback
Time-Delay
Mobile Robot
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/6645
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/6645
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile RobotsPenizzotto Bacha, Franco VictorSlawiñski, EmanuelSalinas, Lucio RafaelMut, Vicente AntonioHuman-Robot InteractionCommand PerformanceBilateral TeleoperationForce FeedbackTime-DelayMobile Robothttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s commands execution in order to achieve a high performance teleoperation system in some important aspects like time to complete the task, safety and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop (HITL) simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user tele-operates a mobile robot via Internet connection between Argentina and Italy.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaTaylor & Francis2015-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/6645Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio; Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots; Taylor & Francis; Advanced Robotics; 29; 19; 5-2015; 1253-12680169-1864enginfo:eu-repo/semantics/altIdentifier/url/http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1052011?journalCode=tadr20info:eu-repo/semantics/altIdentifier/doi/10.1080/01691864.2015.1052011info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:39:51Zoai:ri.conicet.gov.ar:11336/6645instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:39:51.788CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
title Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
spellingShingle Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
Penizzotto Bacha, Franco Victor
Human-Robot Interaction
Command Performance
Bilateral Teleoperation
Force Feedback
Time-Delay
Mobile Robot
title_short Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
title_full Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
title_fullStr Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
title_full_unstemmed Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
title_sort Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots
dc.creator.none.fl_str_mv Penizzotto Bacha, Franco Victor
Slawiñski, Emanuel
Salinas, Lucio Rafael
Mut, Vicente Antonio
author Penizzotto Bacha, Franco Victor
author_facet Penizzotto Bacha, Franco Victor
Slawiñski, Emanuel
Salinas, Lucio Rafael
Mut, Vicente Antonio
author_role author
author2 Slawiñski, Emanuel
Salinas, Lucio Rafael
Mut, Vicente Antonio
author2_role author
author
author
dc.subject.none.fl_str_mv Human-Robot Interaction
Command Performance
Bilateral Teleoperation
Force Feedback
Time-Delay
Mobile Robot
topic Human-Robot Interaction
Command Performance
Bilateral Teleoperation
Force Feedback
Time-Delay
Mobile Robot
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s commands execution in order to achieve a high performance teleoperation system in some important aspects like time to complete the task, safety and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop (HITL) simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user tele-operates a mobile robot via Internet connection between Argentina and Italy.
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description Teleoperation task performance strongly depends on how well the human operator´s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user´s commands execution in order to achieve a high performance teleoperation system in some important aspects like time to complete the task, safety and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop (HITL) simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user tele-operates a mobile robot via Internet connection between Argentina and Italy.
publishDate 2015
dc.date.none.fl_str_mv 2015-05
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/6645
Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio; Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots; Taylor & Francis; Advanced Robotics; 29; 19; 5-2015; 1253-1268
0169-1864
url http://hdl.handle.net/11336/6645
identifier_str_mv Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Salinas, Lucio Rafael; Mut, Vicente Antonio; Human-Centered Control Scheme for Delayed Bilateral Teleoperation of Mobile Robots; Taylor & Francis; Advanced Robotics; 29; 19; 5-2015; 1253-1268
0169-1864
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1052011?journalCode=tadr20
info:eu-repo/semantics/altIdentifier/doi/10.1080/01691864.2015.1052011
info:eu-repo/semantics/altIdentifier/doi/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Taylor & Francis
publisher.none.fl_str_mv Taylor & Francis
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614424859508736
score 13.070432

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