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Telerobotics

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Springer Handbook of Robotics

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Abstract

In this chapter we present an overview of the field of telerobotics with a focus on control aspects. To acknowledge some of the earliest contributions and motivations the field has provided to robotics in general, we begin with a brief historical perspective and discuss some of the challenging applications. Then, after introducing and classifying the various system architectures and control strategies, we emphasize bilateral control and force feedback. This particular area has seen intense research work in the pursuit of telepresence. We also examine some of the emerging efforts, extending telerobotic concepts to unconventional systems and applications. Finally, we suggest some further reading for a closer engagement with the field.

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Abbreviations

6-D:

six-dimensional

ASM:

advanced servomanipulator

AUV:

autonomous aquatic vehicle

CEA:

Commissariat à l’Énergie Atomique

CPU:

central processing unit

DLR:

German Aerospace Center

DOF:

degree of freedom

EBA:

energy bounding algorithm

EP:

energy packet

EVA:

extravehicular activity

I/O:

input/output

ISS:

international space station

JPL:

Jet Propulsion Laboratory

LARS:

Laparoscopic Assistant Robotic System

MIT:

Massachusetts Institute of Technology

MMMS:

multiple master multiple-slave

MMSS:

multiple master single-slave

NASA:

National Aeronautics and Space Agency

PC:

passivity controller

PD:

proportional–derivative

PO:

passivity observer

PSPM:

passive set-position modulation

RAMS:

robot-assisted microsurgery

ROKVISS:

robotics component verification on ISS

SMMS:

single-master multiple-slave

SMSS:

single-master single-slave

tEODor:

telerob explosive ordnance disposal and observation robot

TSP:

telesensor programming

UAV:

unmanned aerial vehicle

WMR:

wheeled mobile robot

ZOH:

zero order hold

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Author information

Authors and Affiliations

  1. Disney Research, 1401 Flower Street, CA 91201-5020, Glendale, USA

    Günter Niemeyer

  2. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Münchner Strasse 20, 82234, Wessling, Germany

    Carsten Preusche

  3. Faculty of Electrical Engineering, Mathematics & Computer Science, Control Laboratory, University of Twente, 7500 AE, Enschede, Netherlands

    Stefano Stramigioli

  4. Department of Mechanical and Aerospace Engineering, Seoul National University, 301 Engineering Building, Gwanak-ro 599, Gwanak-gu, 51-742, Seoul, Korea

    Dongjun Lee

Authors
  1. Günter Niemeyer
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  2. Carsten Preusche
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  3. Stefano Stramigioli
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  4. Dongjun Lee
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Corresponding author

Correspondence to Günter Niemeyer .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Semi-autonomous teleoperation of multiple UAVs: Passing a narrow gap available from http://handbookofrobotics.org/view-chapter/43/videodetails/71

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Semi-autonomous teleoperation of multiple UAVs: Tumbing over obstacle available from http://handbookofrobotics.org/view-chapter/43/videodetails/72

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Bilateral teleoperation of multiple quadrotors with time-varying topology available from http://handbookofrobotics.org/view-chapter/43/videodetails/73

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Passive teleoperation of nonlinear telerobot with tool-dynamics rendering available from http://handbookofrobotics.org/view-chapter/43/videodetails/74

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Asymmetric teleoperation of dual-arm mobile manipulator available from http://handbookofrobotics.org/view-chapter/43/videodetails/75

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Tele-existence master–slave system for remote manipulation available from http://handbookofrobotics.org/view-chapter/43/videodetails/297

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JPL dual-arm telerobot system available from http://handbookofrobotics.org/view-chapter/43/videodetails/298

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Single and dual arm supervisory and shared control available from http://handbookofrobotics.org/view-chapter/43/videodetails/299

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Teleoperated humanoid robot – HRP available from http://handbookofrobotics.org/view-chapter/43/videodetails/318

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Teleoperated humanoid robot – HRP: Tele-driving of lifting vehicle available from http://handbookofrobotics.org/view-chapter/43/videodetails/319

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Multi-modal multi-user telepresence and teleaction system available from http://handbookofrobotics.org/view-chapter/43/videodetails/321

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Laparoscopic telesurgery workstation available from http://handbookofrobotics.org/view-chapter/43/videodetails/322

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Passivity of IPC strategy at 30 Hz sample rate available from http://handbookofrobotics.org/view-chapter/43/videodetails/724

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Niemeyer, G., Preusche, C., Stramigioli, S., Lee, D. (2016). Telerobotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_43

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_43

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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