Park, Sungjun Seo, Changhoon Kim, Jong-Phil Ryu, Jeha 2024-01-20T17:33:42Z 2024-01-20T17:33:42Z 2022-01-25 2011-02 0957-4158 https://pubs.kist.re.kr/handle/201004/130654 This paper presents an energy-bounding approach to a rate-mode bilateral control of remote vehicles in order to guarantee the robust system stability in variable time-delayed and data-dropped telecommunication environments. The velocity error between desired and actual remote vehicle velocities is reflected in term of force in order to maintain the desired velocity by the operator during the normal driving in obstacle-free environments and in order to detect the collision when colliding with a high impedance wall. A rate-mode energy-bounding algorithm is devised for these teleoperation scenarios in order to feel velocity differences sensitively while guaranteeing robust interaction stability. Effectiveness of the proposed approach is shown by some typical experimental results in the simulated variable time-delayed and data-dropped environments. (C) 2010 Elsevier Ltd. All rights reserved. English PERGAMON-ELSEVIER SCIENCE LTD Robustly stable rate-mode bilateral teleoperation using an energy-bounding approach Article 10.1016/j.mechatronics.2010.10.002 1 MECHATRONICS, v.21, no.1, pp.176 - 184 MECHATRONICS 21 1 176 184 N scie scopus 000287548100019 2-s2.0-79551494433 Automation & Control Systems Engineering, Electrical & Electronic Engineering, Mechanical Robotics Automation & Control Systems Engineering Robotics Article TIME-DELAY Teleoperation Force feedback Rate-mode control Energy-bounding algorithm Variable time delays