INVESTIGADORES
MUT Vicente Antonio
artículos
Título:
Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot
Autor/es:
MOYA, VIVIANA; SLAWINSKI, EMANUEL; MUT, VICENTE
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Año: 2021 vol. 39 p. 633 - 651
ISSN:
0263-5747
Resumen:
SUMMARYThis paper proposes a shared control scheme which aims to achieve a stable control of the speed and turn 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 the synchronism error. Furthermore, a test where a human operator handles the walking of a simulated bipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.
