Haptic Tele-Driving of Wheeled Mobile Robot with Communication Delay

Abstract

We propose a novel passivity-enforcing tele-driving control framework, which will enable a human operator to stably tele-control a unicycle-type wheeled mobile robot (WMR) over communication network with constant delays while having some useful haptic force-feedback. We consider both the case of kinematic and dynamic WMRs. Our main objective is to enable… (More)

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