{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T13:42:52Z","timestamp":1740145372419,"version":"3.37.3"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T00:00:00Z","timestamp":1614556800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T00:00:00Z","timestamp":1614556800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. Autom. Comput."],"published-print":{"date-parts":[[2021,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Teleoperation systems allow the extension of human capabilities to remote-control devices by providing the operator with conditions similar to those at the remote site through a communication channel that sends information from one site to the other. This article aims to present an analysis of the benefits of force feedback applied to the bilateral teleoperation of a humanoid robot with time-varying delay. As a control scheme, we link adaptive inverse dynamics compensation, balance control, and P+d like controllers. Finally, a test is performed where an operator simultaneously handles the locomotion (forward velocity and turn angle) and arm of a simulated 3D humanoid robot to do a pick-and-place task using two master devices with force feedback, where indexes such as time to complete the task, coordination errors, path tracking error, and percentage of successful tests are reported for different time-delays. We conclude with the results achieved.<\/jats:p>","DOI":"10.1007\/s11633-020-1267-7","type":"journal-article","created":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T07:02:58Z","timestamp":1614582178000},"page":"605-618","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Delayed Teleoperation with Force Feedback of a Humanoid Robot"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6064-6925","authenticated-orcid":false,"given":"Viviana","family":"Moya","sequence":"first","affiliation":[]},{"given":"Emanuel","family":"Slawi\u00f1ski","sequence":"additional","affiliation":[]},{"given":"Vicente","family":"Mut","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,3,1]]},"reference":[{"key":"1267_CR1","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1007\/978-94-007-5718-9","volume-title":"Haptics for Virtual Reality and Teleoperation","author":"M Mihelj","year":"2012","unstructured":"M. Mihelj, J. Podobnik. Haptics for Virtual Reality and Teleoperation, Dordrecht, Netherlands: Springer, pp. 161\u2013166, 2012. DOI: https:\/\/doi.org\/10.1007\/978-94-007-5718-9."},{"issue":"2","key":"1267_CR2","doi-asserted-by":"publisher","first-page":"430","DOI":"10.1109\/TSMCA.2011.2159588","volume":"42","author":"E Slawinski","year":"2012","unstructured":"E. Slawinski, V. A. Mut, P. Fiorini, L. R. Salinas. Quantitative absolute transparency for bilateral teleoperation of mobile robots. IEEE Transactions on Systems, Man, and Cybernetics \u2014 Part A: Systems and Humans, vol. 42, no. 2, pp. 430\u2013442, 2012. DOI: https:\/\/doi.org\/10.1109\/TSMCA.2011.2159588.","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics \u2014 Part A: Systems and Humans"},{"key":"1267_CR3","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1007\/s11633-007-0203-4","volume":"4","author":"Q W Deng","year":"2007","unstructured":"Q. W. Deng, Q. Wei, Z. X. Li. Analysis of absolute stability for time-delay teleoperation systems. International Journal of Automation and Computing, vol. 4, pp. 203\u2013207, 2007. DOI: https:\/\/doi.org\/10.1007\/s11633-007-0203-4.","journal-title":"International Journal of Automation and Computing"},{"issue":"1","key":"1267_CR4","doi-asserted-by":"publisher","first-page":"746","DOI":"10.1109\/TIE.2019.2898587","volume":"67","author":"Z Chen","year":"2020","unstructured":"Z. Chen, F. H. Huang, C. N. Yang, B. Yao. Adaptive fuzzy backstepping control for stable nonlinear bilateral teleoperation manipulators with enhanced transparency performance. IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 746\u2013756, 2020. DOI: https:\/\/doi.org\/10.1109\/TIE.2019.2898587.","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"1267_CR5","doi-asserted-by":"publisher","unstructured":"S. Phukan, C. Mahanta. A position synchronization controller for co-ordinated links (COOL) dual robot arm based on integral sliding mode: Design and experimental validation. International Journal of Automation and Computing, 2020. DOI: https:\/\/doi.org\/10.1007\/s11633-020-1242-3.","DOI":"10.1007\/s11633-020-1242-3"},{"issue":"2","key":"1267_CR6","doi-asserted-by":"publisher","first-page":"906","DOI":"10.1109\/TMECH.2019.2962081","volume":"25","author":"Z Chen","year":"2020","unstructured":"Z. Chen, F. H. Huang, W. C. Sun, J. Gu, B. Yao. RBF-neural-net work-based adaptive robust control for nonlinear bilateral teleoperation manipulators with uncertainty and time delay. IEEE\/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 906\u2013918, 2020. DOI: https:\/\/doi.org\/10.1109\/TMECH.2019.2962081.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"1267_CR7","volume-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","author":"E R Westervelt","year":"2007","unstructured":"E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, B. Morris. Feedback Control of Dynamic Bipedal Robot Locomotion, Boca Raton, USA: CRC Press, 2007."},{"issue":"4","key":"1267_CR8","doi-asserted-by":"publisher","first-page":"876","DOI":"10.1109\/TAC.2014.2299335","volume":"59","author":"A D Ames","year":"2014","unstructured":"A. D. Ames, K. Galloway, K. Sreenath, J. W. Grizzle. Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics. IEEE Transactions on Automatic Control, vol. 59, no. 4, pp. 876\u2013891, 2014. DOI: https:\/\/doi.org\/10.1109\/TAC.2014.2299335.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"1267_CR9","doi-asserted-by":"publisher","first-page":"862","DOI":"10.1109\/ACC.2015.7170842","volume-title":"Proceedings of American Control Conference","author":"Q Nguyen","year":"2015","unstructured":"Q. Nguyen, K. Sreenath. L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs. In Proceedings of American Control Conference, IEEE, Chicago, USA, pp. 862\u2013867, 2015. DOI: https:\/\/doi.org\/10.1109\/ACC.2015.7170842."},{"key":"1267_CR10","doi-asserted-by":"publisher","first-page":"862","DOI":"10.1109\/HUMANOIDS.2014.7041465","volume-title":"Proceedings of IEEE-RAS International Conference on Humanoid Robots","author":"A Brygo","year":"2014","unstructured":"A. Brygo, I. Sarakoglou, N. Tsagarakis, D. G. Caldwell. Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback. In Proceedings of IEEE-RAS International Conference on Humanoid Robots, IEEE, Madrid, Spain, pp. 862\u2013867, 2014. DOI: https:\/\/doi.org\/10.1109\/HUMANOIDS.2014.7041465."},{"key":"1267_CR11","doi-asserted-by":"publisher","first-page":"5010","DOI":"10.1109\/IROS.2018.8593521","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"F Abi-Farrajl","year":"2018","unstructured":"F. Abi-Farrajl, B. Henze, A. Werner, M. Panzirsch, C. Ott, M. A. Roa. Humanoid teleoperation using task-relevant haptic feedback. In Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE, Madrid, Spain, pp. 5010\u20135017, 2018. DOI: https:\/\/doi.org\/10.1109\/IROS.2018.8593521."},{"key":"1267_CR12","doi-asserted-by":"publisher","first-page":"4229","DOI":"10.1109\/IROS.2015.7353976","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"J Ramos","year":"2015","unstructured":"J. Ramos, A. Wang, S. Kim. A balance feedback human machine interface for humanoid teleoperation in dynamic tasks. In Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE, Hamburg, Germany, pp. 4229\u20134235, 2015. DOI: https:\/\/doi.org\/10.1109\/IROS.2015.7353976."},{"key":"1267_CR13","doi-asserted-by":"publisher","first-page":"897","DOI":"10.1109\/ROMAN.2009.5326226","volume-title":"Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication","author":"K Hongo","year":"2009","unstructured":"K. Hongo, M. Yoshida, Y. Nakanishi, I. Mizuuchi, M. Inaba. Development of bilateral wearable device \u201cKento\u201d for control robots using muscle actuator modules. In Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication, IEEE, Toyama, Japan, pp. 897\u2013902, 2009. DOI: https:\/\/doi.org\/10.1109\/ROMAN.2009.5326226."},{"key":"1267_CR14","doi-asserted-by":"publisher","first-page":"174","DOI":"10.1109\/ICARSC.2015.27","volume-title":"Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions","author":"J J O Barros","year":"2015","unstructured":"J. J. O. Barros, V. M. F. dos Santos, F. M. T. P. da Silva. Bimanual haptics for humanoid robot teleoperation using ROS and V-REP. In Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions, IEEE, Vila Real, Portugal, pp. 174\u2013179, 2015. DOI: https:\/\/doi.org\/10.1109\/ICARSC.2015.27."},{"key":"1267_CR15","doi-asserted-by":"publisher","unstructured":"J. Ramos, S. Kim. Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation. Science Robotics, vol. 4, no. 35, Article number eaav4282, 2019. DOI: https:\/\/doi.org\/10.1126\/scirobotics.aav4282.","DOI":"10.1126\/scirobotics.aav4282"},{"key":"1267_CR16","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1016\/j.mechatronics.2018.02.013","volume":"51","author":"N Karbasizadeh","year":"2018","unstructured":"N. Karbasizadeh, M. Zarei, A. Aflakian, M. T. Masouleh, A. Kalhor. Experimental dynamic identification and model feed-forward control of Novint Falcon haptic device. Mechatronics, vol. 51, pp. 19\u201330, 2018. DOI: https:\/\/doi.org\/10.1016\/j.mechatronics.2018.02.013.","journal-title":"Mechatronics"},{"key":"1267_CR17","doi-asserted-by":"publisher","unstructured":"M. Arbul\u00fa, D. Kaynov, L. Cabas, C. Balaguer. The Rh-1 full-size humanoid robot: Design, walking pattern generation and control. Applied Bionics and Biomechanics, vol. 6, Article number 974354, 2009. DOI: https:\/\/doi.org\/10.1080\/11762320903123575.","DOI":"10.1080\/11762320903123575"},{"key":"1267_CR18","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1007\/978-1-4020-4941-5_15","volume-title":"Advances in Robot Kinematics","author":"A De Santis","year":"2006","unstructured":"A. De Santis, P. Pierro, B. Siciliano. The multiple virtual end-effectors approach for human-robot interaction. Advances in Robot Kinematics, J. Lennar\u010di\u010d, B. Roth, Eds., Dordrecht, Netherlands: Springer, pp. 133\u2013144, 2006. DOI: https:\/\/doi.org\/10.1007\/978-1-4020-4941-5_15."},{"issue":"12","key":"1267_CR19","doi-asserted-by":"publisher","first-page":"1522","DOI":"10.1177\/0278364916653815","volume":"35","author":"B Henze","year":"2016","unstructured":"B. Henze, M. A. Roa, C. Ott. Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. The International Journal of Robotics Research, vol. 35, no. 12, pp. 1522\u20131543, 2016. DOI: https:\/\/doi.org\/10.1177\/0278364916653815.","journal-title":"The International Journal of Robotics Research"},{"key":"1267_CR20","doi-asserted-by":"publisher","first-page":"1943","DOI":"10.1109\/ICRA.2014.6907116","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"S Faraji","year":"2014","unstructured":"S. Faraji, S. Pouya, C. G. Atkeson, A. J. Ijspeert. Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Hong Kong, China, pp. 1943\u20131950, 2014. DOI: https:\/\/doi.org\/10.1109\/ICRA.2014.6907116."},{"issue":"4","key":"1267_CR21","doi-asserted-by":"publisher","first-page":"3900","DOI":"10.1109\/LRA.2018.2856914","volume":"3","author":"F J A Chavez","year":"2018","unstructured":"F. J. A. Chavez, J. Kangro, S. Traversaro, F. Nori, D. Pucci. Contact force and joint torque estimation using skin. IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3900\u20133907, 2018. DOI: https:\/\/doi.org\/10.1109\/LRA.2018.2856914.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"1267_CR22","doi-asserted-by":"publisher","first-page":"925","DOI":"10.1109\/TRO.2010.2053736","volume":"26","author":"C C Hua","year":"2010","unstructured":"C. C. Hua, X. P. Liu. Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays. IEEE Transactions on Robotics, vol. 26, no. 5, pp. 925\u2013932, 2010. DOI: https:\/\/doi.org\/10.1109\/TRO.2010.2053736.","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"1267_CR23","doi-asserted-by":"publisher","first-page":"753","DOI":"10.1109\/TRO.2008.921565","volume":"24","author":"E Nu\u00f1o","year":"2008","unstructured":"E. Nu\u00f1o, R. Ortega, N. Barabanov, L. Basa\u00f1ez. A globally stable PD controller for bilateral teleoperators. IEEE Transactions on Robotics, vol. 24, no. 3, pp. 753\u2013758, 2008. DOI: https:\/\/doi.org\/10.1109\/TRO.2008.921565.","journal-title":"IEEE Transactions on Robotics"},{"key":"1267_CR24","doi-asserted-by":"publisher","unstructured":"T. Q. Yang, W. M. Zhang, X. C. Chen, Z. G. Yu, L. B. Meng, Q. Huang. Turning gait planning method for humanoid robots. Applied Sciences, vol. 8, no. 8, Article number 1257, 2018. DOI: https:\/\/doi.org\/10.3390\/app8081257.","DOI":"10.3390\/app8081257"},{"issue":"5","key":"1267_CR25","doi-asserted-by":"publisher","first-page":"1115","DOI":"10.1109\/TAC.2014.2299342","volume":"59","author":"A D Ames","year":"2014","unstructured":"A. D. Ames. Human-inspired control of bipedal walking robots. IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1115\u20131130, 2014. DOI: https:\/\/doi.org\/10.1109\/TAC.2014.2299342.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"1267_CR26","volume-title":"Dynamics of Human Gait","author":"C L Vaughan","year":"1992","unstructured":"C. L. Vaughan, B. L. Davis, J. C. O\u2019Connor. Dynamics of Human Gait, 2nd ed., Champaign, USA: Human Kinetics Press, 1992.","edition":"2nd ed."},{"key":"1267_CR27","volume-title":"Robot Modeling and Control","author":"M W Spong","year":"2005","unstructured":"M. W. Spong, S. Hutchinson, M. Vidyasagar. Robot Modeling and Control, New York, USA: John Wiley & Sons, Inc., 2005."},{"issue":"7","key":"1267_CR28","doi-asserted-by":"publisher","first-page":"1119","DOI":"10.1017\/S026357471100138X","volume":"30","author":"C L Shih","year":"2012","unstructured":"C. L. Shih, J. W. Grizzle, C. Chevallereau. From stable walking to steering of a 3D bipedal robot with passive point feet. Rohotica, vol. 30, no. 7, pp. 1119\u20131130, 2012. DOI: https:\/\/doi.org\/10.1017\/S026357471100138X.","journal-title":"Rohotica"},{"issue":"6","key":"1267_CR29","doi-asserted-by":"publisher","first-page":"729","DOI":"10.1109\/9.256328","volume":"37","author":"J B Pomet","year":"1992","unstructured":"J. B. Pomet, L. Praly. Adaptive nonlinear regulation: Estimation from the Lyapunov equation. IEEE Transactions on Automatic Control, vol. 37, no. 6, pp. 729\u2013740, 1992. DOI: https:\/\/doi.org\/10.1109\/9.256328.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"1267_CR30","doi-asserted-by":"publisher","first-page":"4093","DOI":"10.1109\/ACC.2008.4587134","volume-title":"Proceedings of American Control Conference","author":"C Y Cao","year":"2008","unstructured":"C. Y. Cao, N. Hovakimyan. L1 adaptive controller for a class of systems with unknown nonlinearities: Part I. In Proceedings of American Control Conference, IEEE, Seattle, USA, pp.4093\u20134098, 2008. DOI: https:\/\/doi.org\/10.1109\/ACC.2008.4587134."},{"issue":"3","key":"1267_CR31","doi-asserted-by":"publisher","first-page":"485","DOI":"10.1016\/j.automatica.2011.01.004","volume":"47","author":"E Nu\u00f1o","year":"2011","unstructured":"E. Nu\u00f1o, L. Basa\u00f1ez, R. Ortega. Passivity-based control for bilateral teleoperation: A tutorial. Autom\u00e1tica, vol. 47, no. 3, pp. 485\u2013495, 2011. DOI: https:\/\/doi.org\/10.1016\/j.automatica.2011.01.004.","journal-title":"Autom\u00e1tica"},{"issue":"8","key":"1267_CR32","doi-asserted-by":"publisher","first-page":"1622","DOI":"10.1080\/00207179.2016.1144234","volume":"89","author":"E Slawi\u00f1ski","year":"2016","unstructured":"E. Slawi\u00f1ski, V. Mut, D. Santiago. PD-like controller for delayed bilateral teleoperation of wheeled robots. International Journal of Control, vol. 89, no. 8, pp. 1622\u20131631, 2016. DOI: https:\/\/doi.org\/10.1080\/00207179.2016.1144234.","journal-title":"International Journal of Control"},{"key":"1267_CR33","doi-asserted-by":"publisher","first-page":"3298","DOI":"10.1109\/ROBOT.2006.1642205","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"D Lee","year":"2006","unstructured":"D. Lee, O. Martinez-Palafox, M. W. Spong. Bilateral teleoperation of a wheeled mobile robot over delayed communication network. In Proceedings of IEEE International Conference on Robotics and Automation, IEEE, Orlando, USA, pp. 3298\u20133303, 2006. DOI: https:\/\/doi.org\/10.1109\/ROBOT.2006.1642205."}],"container-title":["International Journal of Automation and Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11633-020-1267-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11633-020-1267-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11633-020-1267-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,7,14]],"date-time":"2021-07-14T17:15:38Z","timestamp":1626282938000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11633-020-1267-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,1]]},"references-count":33,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,8]]}},"alternative-id":["1267"],"URL":"https:\/\/doi.org\/10.1007\/s11633-020-1267-7","relation":{},"ISSN":["1476-8186","1751-8520"],"issn-type":[{"type":"print","value":"1476-8186"},{"type":"electronic","value":"1751-8520"}],"subject":[],"published":{"date-parts":[[2021,3,1]]},"assertion":[{"value":"9 March 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 November 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 March 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}