BILATERAL TELEOPERATION OF MOBILE ROBOTS THROUGH INTERNET

This paper addresses a stable control structure for the bilateral teleoperation of mobile robots with visual feedback in presence of time-varying delay. The proposed control structure uses estimated parameters of the human operator and a fictitious force which is calculated using data fusion from ultrasonic sensors and optical flow field from panoramic images. To illustrate the performance and stability of the proposed control structure, several teleoperation experiments between Argentina and Brazil linked via Internet are shown.