Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot

Abstract

This paper proposes a shared control scheme which aims to achieve a stable control of the speed andturn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value that must be injected to assure a bounded response of the hybrid system,while simultaneously, the human operator receives a force feedback that help him to decrease thesynchronism error. Furthermore, a test where a human operator handles the walking of a simulatedbipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.