Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot

Autores
Moya González, Viviana Isabel; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo
Año de publicación
2021
Idioma
español castellano
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Moya González, Viviana Isabel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Wagner, Bernardo. Leibniz Universitat Hannover; Alemania
Materia
Humanoid robot
Intercontinental bilateral teloeperation
force feedback
Time delay
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:11336/183494
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid RobotMoya González, Viviana IsabelSlawiñski, EmanuelMut, Vicente AntonioWagner, BernardoHumanoid robotIntercontinental bilateral teloeperationforce feedbackTime delayhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Moya González, Viviana Isabel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Wagner, Bernardo. Leibniz Universitat Hannover; AlemaniaInstitute of Electrical and Electronics Engineers2021-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/183494Moya González, Viviana Isabel; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 20; 1; 5-2021; 64-721548-0992CONICET DigitalCONICETspainfo:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/5054info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-05T10:14:26Zoai:ri.conicet.gov.ar:11336/183494instacron: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:34982025-11-05 10:14:26.628CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
title Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
spellingShingle Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
Moya González, Viviana Isabel
Humanoid robot
Intercontinental bilateral teloeperation
force feedback
Time delay
title_short Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
title_full Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
title_fullStr Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
title_full_unstemmed Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
title_sort Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot
dc.creator.none.fl_str_mv Moya González, Viviana Isabel
Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author Moya González, Viviana Isabel
author_facet Moya González, Viviana Isabel
Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author_role author
author2 Slawiñski, Emanuel
Mut, Vicente Antonio
Wagner, Bernardo
author2_role author
author
author
dc.subject.none.fl_str_mv Humanoid robot
Intercontinental bilateral teloeperation
force feedback
Time delay
topic Humanoid robot
Intercontinental bilateral teloeperation
force feedback
Time delay
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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.
Fil: Moya González, Viviana Isabel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Wagner, Bernardo. Leibniz Universitat Hannover; Alemania
description 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.
publishDate 2021
dc.date.none.fl_str_mv 2021-05
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/11336/183494
Moya González, Viviana Isabel; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 20; 1; 5-2021; 64-72
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/183494
identifier_str_mv Moya González, Viviana Isabel; Slawiñski, Emanuel; Mut, Vicente Antonio; Wagner, Bernardo; Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 20; 1; 5-2021; 64-72
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/5054
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
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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
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score 13.087074

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