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A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.<\/jats:p>","DOI":"10.1017\/s0263574715000223","type":"journal-article","created":{"date-parts":[[2015,4,15]],"date-time":"2015-04-15T05:07:15Z","timestamp":1429074435000},"page":"2151-2161","source":"Crossref","is-referenced-by-count":14,"title":["PD-like controller with impedance for delayed bilateral teleoperation of mobile robots"],"prefix":"10.1017","volume":"34","author":[{"given":"E.","family":"Slawi\u00f1ski","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Garc\u00eda","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"L.","family":"Salinas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V.","family":"Mut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,4,15]]},"reference":[{"key":"S0263574715000223_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2053736"},{"key":"S0263574715000223_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.07.006"},{"key":"S0263574715000223_ref20","unstructured":"N. Diolaiti and C. Melchiorri , \u201cHaptic Teleoperation of a Mobile Robot,\u201d Proceedings of the 7th IFAC SYROCO, Wroc\u0142aw, Poland (Sep. 1\u20133, 2003) pp. 2798\u20132805."},{"key":"S0263574715000223_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2011.2159588"},{"key":"S0263574715000223_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.862037"},{"volume-title":"Telerobotics, Automation, and Human Supervisory Control","year":"1992","author":"Sheridan","key":"S0263574715000223_ref1"},{"key":"S0263574715000223_ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.3177"},{"key":"S0263574715000223_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010963"},{"key":"S0263574715000223_ref22","unstructured":"D. Lee , O. Martinez-Palafox and M. W. Spong , \u201cBilateral Teleoperation of a Wheeled Mobile Robot over Delayed Communication Network,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA (May 15\u201319, 2006) pp. 3298\u20133303."},{"key":"S0263574715000223_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.809203"},{"key":"S0263574715000223_ref26","doi-asserted-by":"crossref","first-page":"1951","DOI":"10.1109\/9.887620","article-title":"Stability guaranteed teleoperation: An adaptive motion\/force control approach","volume":"45","author":"Zhu","year":"2000","journal-title":"IEEE Trans. Autom. 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Xu , \u201cFeedback r-Passivity of Lagrangian Systems for Mobile Robot Teleoperation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China (May 9\u201313, 2011) pp. 2118\u20132123.","DOI":"10.1109\/ICRA.2011.5980386"},{"key":"S0263574715000223_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000427"},{"key":"S0263574715000223_ref24","doi-asserted-by":"crossref","unstructured":"H. V. Quang , I. Farkhatdinov and J.-H. Ryu , \u201cPassivity of Delayed Bilateral Teleoperation of Mobile Robots with Ambiguous Causalities: Time Domain Passivity Approach,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura-Algarve, Portugal (Oct. 7\u201312, 2012) pp. 2635\u20132640.","DOI":"10.1109\/IROS.2012.6385807"},{"key":"S0263574715000223_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2006.06.027"},{"key":"S0263574715000223_ref19","doi-asserted-by":"crossref","unstructured":"I. Farkhatdinov , J.-H. Ryu and J. 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Schilling , \u201cPassive Bilateral Teleoperation of a Car-Like Mobile Robot,\u201d Proceedings of the 17th Mediterranean Conference on Control & Automation, Thessaloniki, Greece (Jun. 24\u201326, 2009) pp. 790\u2013796.","DOI":"10.1109\/MED.2009.5164640"},{"key":"S0263574715000223_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-71364-7"},{"key":"S0263574715000223_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2010.2073702"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000223","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,22]],"date-time":"2025-05-22T15:12:16Z","timestamp":1747926736000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000223\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,4,15]]},"references-count":27,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2016,9]]}},"alternative-id":["S0263574715000223"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000223","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2015,4,15]]}}}