Abstract
This chapter presents an overview of the teleoperation of robotics systems, starting with a historical background and positioning these systems in a scale of levels of automation. Next, as a representative example, an up-to-date specific bilateral teleoperation scheme is described in order to illustrate the typical components and functional modules of this kind of systems. As a natural extension of the bilateral teleoperators, the cooperative teleoperation systems are introduced. Some specific topics in the field are particularly discussed, for instance, the control objectives and algorithms for both bilateral teleoperators and cooperative teleoperation systems, the communication channels, the use of graphical simulation and task planning, and the usefulness of virtual and augmented reality. The last part of the chapter includes a description of the most typical application fields, such as industry and construction, agriculture, mining, underwater, space, healthcare and surgery, assistance, humanitarian demining, and education, where some of the pioneering, significant, and latest contributions are briefly presented. Finally, some conclusions and the trends in the field close the chapter.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: An historical survey. Automatica 42(12), 2035–2057 (2006)
Mihelj, M., Podobnik, J.: Haptics for virtual reality and teleoperation. In: Intelligent Systems, Control and Automation: Science and Engineering, vol. 64. Springer, Berlin (2012)
Bicker, R., Burn, K., Hu, Z., Pongaen, W., Bashir, A.: The early development of remote tele-manipulation systems. In: Ceccarelli, M. (ed.) International Symposium on History of Machines and Mechanisms, pp. 391–404 (2004)
Sheridan, T.B.: Telerobotics, Automation, and Human Supervisory Control. The MIT Press, Cambridge (1992)
Milgram, P., Rastogi, A., Grodski, J.J.: Telerobotic control using augmented reality. In: Proceedings 4th IEEE International Workshop on Robot and Human Communication, Tokyo, pp. 21–29 (1995)
Fitts, P.M.(ed.) Human Engineering for an Effective Air-Navigation and Traffic-Control System. National Research Council, Washington (1951)
Save, L., Feuerberg, B.: Designing human-automation interaction: a new level of Automation Taxonomy. In: Human Factors: A View from an Integrative Perspective, Toulouse, pp. 43–55 (2012)
Sheridan, T.B., Verplank, W.L.: Human and Computer Control of Undersea Teleoperators. MIT Man-Machine Systems Laboratory, Cambridge (1978)
Endsley, M.R., Kaber, D.B.: Level of automation effects on performance, situation awareness and workload in a dynamic control task. Ergonomics 42(3), 462–492 (1999)
Endsley, M.R.: Level of automation forms a key aspect of autonomy design. J. Cognitive Engineering and Decision Making 12(1), 29–34 (2018)
Kaber, D.B.: Issues in human-automation interaction modeling: presumptive aspects of frameworks of types and levels of automation. J. Cognitive Engineering and Decision Making 12(1), 7–24 (2018)
Beer, J.M., Fisk, A.D., Rogers, W.A.: Toward a framework for levels of robot autonomy in human-robot interaction. Journal of Human-Robot Interaction 3(2), 74–99 (2014)
Murphy, R.R. Introduction to AI Robotics, 2nd ed. The MIT Press, Cambridge (2019)
Nuño, E., Rodríguez, A., Basañez, L.: Force reflecting teleoperation via ipv6 protocol with geometric constraints haptic guidance. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol. 31, pp. 445–458. Springer, Berlin (2007)
Basañez, L., Rosell, J., Palomo-Avellaneda, L., Nuño, E., Portilla, H.: A framework for robotized teleoperated tasks. In: Proceedings Robot 2011, pp. 573–580 (2011)
Sirouspour, S.: Modeling and control of cooperative teleoperation systems. IEEE Trans. Robot. 21(6), 1220–1225 (2005)
Aldana, C., Nuño, E., Basañez, L.: Bilateral teleoperation of cooperative manipulators. In: IEEE International Conference on Robotics and Automation, pp. 4274–4279 (2012)
Pliego-Jiménez, J., Arteaga-Pérez, M.A., Cruz-Hernández, C.: Dexterous remote manipulation by means of a teleoperation system. Robotica 37(8), 1457–1476 (2019)
Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE Trans. Robot. Autom. 9(5), 624–637 (1993)
Mobasser, F., Hashtrudi-Zaad, K.: Transparent rate mode bilateral teleoperation control. Int. J. Robot. Res. 27(1), 57–72 (2008)
Anderson, R.J., Spong, M.W.: Bilateral control of teleoperators with time delay. IEEE Trans. Autom. Control 34(5), 494–501 (1989)
Niemeyer, G., Slotine, J.J.E.: Stable adaptive teleoperation. IEEE J. Ocean. Eng. 16(1), 152–162 (1991)
Nuño, E., Ortega, R., Barabanov, N., Basañez, L.: A globally stable PD controller for bilateral teleoperators. IEEE Trans. Robot. 24(3), 753–758 (2008)
Nuño, E., Basañez, L., Ortega, R., Spong, M.W.: Position tracking for nonlinear teleoperators with variable time-delay. Int. J. Robot. Res. 28(7), 895–910 (2009)
Secchi, C., Stramigioli, S., Fantuzzi, C.: Transparency in port-hamiltonian-based telemanipulation. IEEE Trans. Robot. 24(4), 903–910 (2008)
Nuño, E., Basañez, L., Ortega, R.: Passivity-based control for bilateral teleoperation: a tutorial. Automatica 47(3), 485–495 (2011)
Chopra, N., Spong, M.W., Ortega, R., Barbanov, N.: On tracking performance in bilateral teleoperation. IEEE Trans. Robot. 22(4), 844–847 (2006)
Nuño, E., Ortega, R., Basañez, L.: An Adaptive Controller for Nonlinear Teleoperators. Automatica 46(1), 155–159 (2010)
Sarras, I., Nuño, E., Basañez, L.: An adaptive controller for nonlinear teleoperators with variable time-delays. J. Frankl. Inst. 351(10), 4817–4837 (2014)
Li, Y., Yin, Y., Zhang, S., Dong, J., Johansson, R.: Composite adaptive control for bilateral teleoperation systems without persistency of excitation. J. Frankl. Inst. 357(2), 773–795 (2020)
Zhang, H., Song, A., Li, H., Shen, S.: Novel adaptive finite-time control of teleoperation system with time-varying delays and input saturation. IEEE Trans. Cybern. 51(7), 1–14 (2019)
Arteaga, M., Kelly, R.: Robot control without velocity measurements: new theory and experimental results. IEEE Trans. Robot. Autom. 20(2), 297–308 (2004)
Garcia-Valdovinos, L., Parra-Vega, V., Arteaga, M.: Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay. Robot. Auton. Syst. 55(8), 609–617 (2007)
Polushin, I.G., Tayebi, A., Marquez, H.J.: Control schemes for stable teleoperation with communication delay based on IOS small gain theorem. Automatica 42(6), 905–915 (2006)
Hua, C.C., Liu, X.P.: Teleoperation over the internet with/without velocity signal. IEEE Trans. Instrum. Meas. 60(1), 4–13 (2011)
Nuño, E., Basañez, L., López-Franco, C., Arana-Daniel, N.: Stability of nonlinear teleoperators using PD controllers without velocity measurements. J. Frankl. Inst. 351(1), 241–258 (2014)
Sarras, I., Nuño, E., Basañez, L., Kinnaert, M.: Position tracking in delayed bilateral teleoperators without velocity measurements. Int. J. Robust Nonlinear Control 26(7), 1437–1455 (2016)
Nuño, E., Arteaga-Pérez, M., Espinosa-Pérez, G.: Control of bilateral teleoperators with time delays using only position measurements. Int. J. Robust Nonlinear Control 28(3), 808–824 (2018)
Arteaga-Pérez, M.A., Morales, M., López, M., Nuño, E.: Observer design for the synchronization of bilateral delayed teleoperators. Eur. J. Control. 43(9), 20–32 (2018)
Astolfi, A., Ortega, R., Venkatraman, A.: A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints. Automatica 46(1), 182–189 (2010)
Aldana, C., Nuño, E., Basañez, L.: Control of bilateral teleoperators in the operational space without velocity measurements. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5445–5450 (2013)
Lee, D., Spong, M.W.: Bilateral teleoperation of multiple cooperative robots over delayed communication networks: Theory. In: IEEE International Conference on Robotics and Automation, pp. 360–365 (2005)
Rodriguez-Seda, E.J., Troy, J.J., Erignac, C.A., Murray, P., Stipanovic, D.M., Spong, M.W.: Bilateral teleoperation of multiple mobile agents: coordinated motion and collision avoidance. IEEE Trans. Control Syst. Technol. 18(4), 984–992 (2010)
Malysz, P., Sirouspour, S.: A kinematic control framework for single-slave asymmetric teleoperation systems. IEEE Trans. Robot. 27(5), 901–917 (2011)
Polushin, I.G., Dashkovskiy, S.N., Takhmar, A., Patel, R.V.: A small gain framework for networked cooperative force-reflecting teleoperation. Automatica 49(2), 338–348 (2013)
Li, J., Tavakoli, M., Huang, Q.: Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom. IET Control Theory Appl. 8(12), 1062–1070 (2014)
Yang, Y., Hua, C., Guan, X.: Multi-manipulators coordination for bilateral teleoperation system using fixed-time control approach. Int. J. Robust Nonlinear Control 28(18), 5667–5687 (2018)
Nuño, E., Ortega, R., Basañez, L., Hill, D.: Synchronization of networks of nonidentical Euler-Lagrange systems with uncertain parameters and communication delays. IEEE Trans. Autom. Control 56(4), 935–941 (2011)
Nuño, E., Sarras, I., Basañez, L.: Consensus in networks of nonidentical Euler-Lagrange systems using P+d controllers. IEEE Trans. Robot. 29(6), 1503–1508 (2013)
Aldana, C.I., Nuño, E., Basañez, L., Romero, E.: Operational space consensus of multiple heterogeneous robots without velocity measurements. J. Frankl. Inst. 351(3), 1517–1539 (2014)
Montaño, A., Suárez, R., Aldana, C.I., Nuño, E.: Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies. In: Proceedings of the 2020 IFAC World Congress. Berlin, Germany (2020)
Nuño, E., Ortega, R.: Achieving consensus of Euler-Lagrange agents with interconnecting delays and without velocity measurements via passivity-based control. IEEE Trans. Control Syst. Technol. 26(1), 222–232 (2018)
Rodriguez-Seda, E.J., Lee, D., Spong, M.W.: Experimental comparison study of control architectures for Bilateral teleoperators. IEEE Trans. Robot. 25(6), 1304–1318 (2009)
Lee, J.-Y., Payandeh, S.: Haptic Teleoperation Systems: Signal Processing Perspective. Springer, Switzerland (2015)
Loshin, P.: IPv6: Theory, Protocol, and Practice, 2nd edn. Morgan Kaufmann Publishers Inc., San Francisco (2003)
Everything you need to know about 5G. https://www.qualcomm.com/invention/5g/what-is-5g. Accessed: 2020-06-02
ITU-R. IMT Vision—Framework and overall objectives of the future development of IMT for 2020 and beyond. In: M Series, Recommendation ITU-R M.2083-0 (2015)
Minopoulos, G., Kokkonis, G., Psannis, K.E., Ishibashi, Y.: A survey on haptic data over 5G networks. Int. J. Future Gener. Commun. Networking 12(2), 37–54 (2019)
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., Dohler, M.: Toward Haptic communications over the 5G Tactile Internet. IEEE Commun. Surv. Tutorials 20(4), 3034–3059 (2018)
Doosan First To Use 5G for Worldwide TeleOperation. https:// eu.doosanequipment.com/en/news/2019-28-03-doosan-to-use-5g. Accessed: 2020-06-02
Remote surgery using robots advances with 5G tests in China. https://www.therobotreport.com/remote-surgery-via-robots-adva nces-china-5g-tests/. Accessed: 2020-06-02
Koziol, M.: Terahertz Waves Could Push 5G to 6G. In: IEEE Spectrum (2019)
Endsley, M.R.: Direct measurement of situation awareness: validity and use of SAGAT. Situation Awareness: Analysis and Measurement 10, 147–174 (2000)
Endsley, M.R.: Toward a theory of situation awareness in dynamic systems. Hum. Factors 37(1), 32–64 (1995)
de Barros, P.G., Lindeman, R.W., Ward, M.O.: Enhancing robot teleoperator situation awareness and performance using vibro-tactile and graphical feedback. In: 2011 IEEE Symposium on 3D User Interfaces (3DUI), pp. 47–54 (2011)
Sherman, W., Craig, A.: Understanding Virtual Reality: Interface, Application, and Design. Morgan Kaufmann Publishers Inc., Burlington (2002)
Stotko, P., Krumpen, S., Schwarz, M., Lenz, C., Behnke, S., Klein, R., Weinmann, M.: A VR system for immersive teleoperation and live exploration with a mobile robot. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3630–3637 (2019)
Inami, M., Kawakami, N., Tachi, S.: Optical camouflage using retro-reflective projection technology. In: Proceedings International Symposium Mixed and Augmented Reality, pp. 348–349 (2003)
Azuma, R.T.: The most important challenge facing augmented reality. Presence Teleop. Virt. Environments 25(3), 234–238 (2017)
Portilla, H., Basañez, L.: Augmented reality tools for enhanced robotics teleoperation systems. In: Proceedings 3DTV Conference, pp. 1–4 (2007)
Rastogi, A., Milgram, P., Drascic, D.: Telerobotic control with stereoscopic augmented reality. In: Proceedings of SPIE—The International Society for Optical Engineering, pp. 115–122 (1996)
Kron, A., Schmidt, G., Petzold, B., Zah, M.I., Hinterseer, P., Steinbach, E.: Disposal of explosive ordnances by use of a bimanual haptic telepresence system. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2004 (ICRA ’04), vol. 2, pp. 1968–1973 (2004)
Ansar, A., Rodrigues, D., Desai, J.P., Daniilidis, K., Kumar, V., Campos, M.F.M.: Visual and haptic collaborative tele-presence. Comput. Graph. 25(5), 789–798 (2001)
DeJong, B.P., Faulring, E.L., Colgate, J.E., Peshkin, M.A., Kang, H., Park, Y.S., Ewing, T.F.: Lessons learned from a novel teleoperation testbed. Ind. Robot. Int. J. 33(3), 187–193 (2006)
Otmane, S., Mallem, M., Kheddar, A., Chavand, F.: Active virtual guides as an apparatus for augmented reality based telemanipulation system on the Internet. In: Proceedings of the 33rd Annual Simulation Symposium, Washington, pp. 185–191 (2000)
Gu, J., Augirre, E., Cohen, P.: An augmented-reality interface for telerobotic applications. In: Proceedings of the 6th IEEE Workshop on Applications of Computer Vision, Orlando, pp. 220–224 (2002)
Hoffmann, C., Joan-Arinyo, R.: A brief on constraint solving. Comput.-Aided Des. Applic. 2(5), 655–663 (2005)
Fudos, I., Hoffmann, C.: A graph-constructive approach to solving systems of geometric constraints. ACM Trans. Graph. 16(2), 179–216 (2004)
Kramer, G.A.: Solving Geometric Constraint Systems: A Case Study in Kinematics. The MIT Press, New York (2003)
Bruderlin, B.: Using geometric rewrite rules for solving geometric problems symbolically. Theor. Comput. Sci. 116, 291–303 (1993)
Nelson, G.: Juno, a constraint-based graphics system. In: Proceedings of the 12st Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH, vol. 19, pp. 235–243 (1985)
Lamure, H., Michelucci, D.: Solving geometric constraints by homotopy. IEEE Trans. Vis. Comput. Graph. 2(1), 28–34 (1996)
Kondo, K.: Algebraic method for manipulation of dimensional relationships in geometric models. Comput. Aided Des. 24(3), 141–147 (1992)
Rodríguez, A., Basañez, L., Celaya, E.: A relational positioning methodology for Robot task specification and execution. IEEE Trans. Robot. 24(3), 600–611 (2008)
Rosell, J., Vázquez, I.: Haptic rendering of compliant motions using contact tracking in C-space. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4223–4228 (2005)
Rosell, J., Vázquez, C., Pérez, A., Iñiguez, P.: Motion planning for haptic guidance. J. Intell. Robot. Syst. 53(3), 223–245 (2008)
Itkowitz, B., Handley, J., Zhu, W.: The OpenHaptics toolkit: a library for adding 3D Touch navigation and haptics to graphics applications. In First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 590–595 (2005)
Alaimo, S.M.C.: Novel Haptic Cueing for UAV Tele-Operation. PhD thesis, Università Di Pisa, Pisa (2011)
Perez-Grau, F.J., Ragel, R., Caballero, F., Viguria, A., Ollero, A.: Semi-autonomous teleoperation of UAVs in search and rescue scenarios. In: Proceedings of the 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1066–1074 (2017)
Aleotti, J., Micconi, G., Caselli, S., Benassi, G., Zambelli, N., Bettelli, M., Calestani, D., Zappettini, A.: Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants, pp. 197–214. Springer, Cham (2019)
Zhang, D., Yang, G., Khurshid, R.P.: Haptic teleoperation of UAVs through control barrier functions. IEEE Trans. Haptic 13(1), 109–115 (2020)
Murphy, R.R.: Disaster Robotics. MIT Press, New York (2014)
Iborra, A., Pastor, J.A., Alvarez, B., Fernandez, C., Merono, J.M.F.: Robots in radioactive environments. IEEE Robot. Autom. Mag. 10(4), 12–22 (2003)
Book, W., Love, L.: Teleoperation, Telerobotics, and Telepresence, chapter 9, pp. 167–185. Wiley, New York (2007)
Aracil, R., Ferre, M.: Telerobotics for aerial live power line maintenance. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol. 31, pp. 459–469. Springer, Heidelberg (2007)
Dunlap, J.H., Van Name, J.M., Henkener, J.A.: Robotic maintenance of overhead transmission lines. IEEE Trans. Power Delivery 1(3), 280–284 (1986)
Aracil, R., Ferre, M., Hernando, M., Pinto, E., Sebastian, J.M.: Telerobotic system for live-power line maintenance: ROBTET. Control. Eng. Pract. 10(11), 1271–1281 (2002)
Haas, C.T., Kim, Y.: Automation in infrastructure construction. Constr. Innov. 2(3), 191–210 (2002)
Hiramatsu, Y., Aono, T., Nishio, M.: Disaster restoration work for the eruption of Mt Usuzan using an unmanned construction system. Adv. Robot. 16(6), 505–508 (2002)
Lytle, A.M., Saidi, K.S., Bostelman, R.V., Stone, W.C., Scott, N.A.: Adapting a teleoperated device for autonomous control using three-dimensional positioning sensors: experiences with the NIST RoboCrane. Autom. Constr. 13(1), 101–118 (2004)
Roldán, J.J., del Cerro, J., Garzón-Ramos, D., Garcia-Aunon, P., Garzón, M., de León, J., Barrientos, A.: Robots in Agriculture: State of Art and Practical Experiences. IntechOpen (2018)
Bechar, A., Vigneault, C.: Agricultural robots for field operations: concepts and components. Biosyst. Eng. 149, 94–111 (2016)
Kantor, G.A., Vasconez, J.P., Auat-Cheein, F.A.: Human-robot interaction in agriculture: a survey and current challenges. Biosyst. Eng. 179, 35–48 (2019)
Opiyo, S., Zhou, J., Mwangi, E., Kai, W., Sunusi, I.: A review on teleoperation of mobile ground robots: architecture and situation awareness. Int. J. Control. Autom. Syst. 19(3), 1384–1407 (2020)
Kim, J., Kim, S., Ju, C., Son, H.I.: Unmanned aerial vehicles in agriculture: A review of perspective of platform, control, and applications. IEEE Access 7(1), 105100–105115 (2019)
Ju, C., Son, H.I.: A haptic teleoperation of agricultural multi-uav. In: Workshop on Robotic Vision and Action in Agriculture: The Future of Agri-Food Systems and Its Deployment to the Real-World at the IEEE International Conference on Robotics and Automation (ICRA) (2018)
Adamides, G., Katsanos, C., Parmet, Y., Christou, G., Xenos, M., Hadzilacos, T., Edan, Y.: Hri usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer. Appl. Ergon. 62, 237–246 (2017)
Peña, C., Riaño, C., Moreno, G.: Robotgreen. a teleoperated agricultural robot for structured environments. J. Eng. Sci. Technol. Rev. 11(6), 144–155 (2018)
Kwitowski, A.J., Mayercheck, W.D., Brautigam, A.L.: Teleoperation for continuous miners and haulage equipment. IEEE Trans. Ind. Appl. 28(5), 1118–1125 (1992)
Flewelling, S., Baiden, G.R., Scoble, M.: Robotic systems development for mining automation. In: CIM (Canadian Institute of Mining) Bulletin, pp. 75–77 (1993)
Ralston, J.C., Hainsworth, D.W., Reid, D.C., Anderson, D.L., McPhee, R.J.: Recent advances in remote coal mining machine sensing, guidance, and teleoperation. Robotica 19(5), 513–526 (2001)
Park, A.J., Kazman, R.N.: Augmented reality for mining teleoperation. In: Das, H. (ed.) Telemanipulator and Telepresence Technologies, vol. 2351, pp. 119–129. International Society for Optics and Photonics, SPIE (1995)
Nelson, T.J., Olson, M.R., Wood, H.C.: Long delay telecontrol of lunar mining equipment. In: Proceedings 6th International Conference and Exposition on Engineering, Construction, and Operations in Space, Albuquerque, pp. 477–484 (2006)
Wilkinson, N.: Cooperative control in tele-operated mining environments. In: Proceedings 55th International Astronautical Congress, Vancouver, vol. 2351. International Astronautical Federation, the International Academy of Astronautics and the International Institute of Space Law, Paris (2004)
Ridao, P., Carreras, M., Hernandez, E., Palomeras, N.: Underwater Telerobotics for Collaborative Research, pp. 347–359. Springer, Berlin (2007)
Harris, S., Ballard, R.: ARGO: Capabilities for deep ocean exploration. Oceans 18, 6–8 (1986)
Fontolan, M.: Prestige oil recovery from the sunken part of the Wreck. In: PAJ Oil Spill Symposium (Petroleum Association of Japan), Tokyo (2005)
Antonelli, G.: Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems. Springer, Berlin (2006)
Lee, M., Choi, H.-S.: A robust neural controller for underwater robot manipulators. IEEE Trans. Neural Netw. 11(6), 1465–1470 (2000)
Kumagai, J.: Swimming to Europa. IEEE Spectr. 44(9), 33–40 (2007)
Pedersen, L., Kortenkamp, D., Wettergreen, D., Nourbakhsh, I.: A survey of space robotics. In: Proceedings 7th International Symposium Artificial Intelligence. Robotics and Automation Space, Nara (2003)
Cruijssen, H.J., Ellenbroek, M., Henderson, M., Petersen, H., Verzijden, P., Visser, M.: The European Robotic Arm: a high-performance mechanism finally on its way to space. In: 42nd Aerospace Mechanism Symposium, NASA Goddard Space Flight Center, Maryland, pp. 319–334 (2014)
Roderick, S., Roberts, B., Atkins, E., Akin, D.: The Ranger robotic satellite servicer and its autonomous software-based safety system. IEEE Intell. Syst. 19(5), 12–19 (2004)
Bluethmann, W., Ambrose, R., Diftler, M., Askew, S., Huber, E., Goza, M., Rehnmark, F., Lovchik, C., Magruder, D.: Robonaut: A robot designed to work with humans in space. Auton. Robot. 14, 179–197 (2003)
Hirzinger, G., Brunner, B., Landzettel, K., Sporer, N., Butterfass, J., Schedl, M.: Space robotics—DLR’s telerobotic concepts, lightweight arms and articulated hands. Auton. Robot. 14, 127–145 (2003)
Fredrickson, S.E., Duran, S., Mitchell, J.D.: Mini AER-Cam inspection robot for human space missions. In: AIAA Space 2004 Conference Exhib., San Diego (2004)
Imaida, T., Yokokohji, Y., Doi, T., Oda, M., Yoshikawa, T.: Ground-space bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition. IEEE Trans. Robot. Autom. 20(3), 499–511 (2004)
Lindemann, R.A., Bickler, D.B., Harrington, B.D., Ortiz, G.M., Voothees, C.J.: Mars exploration rover mobility development. IEEE Robot. Autom. Mag. 13(2), 19–26 (2006)
Touchdown! NASA’s Mars Perseverance Rover Safely Lands on Red Planet. https://mars.nasa.gov/news/8865/. Accessed: 2021-02-18
Landis, G.A.: Robots and humans: synergy in planetary exploration. Acta Astronaut. 55(12), 985–990 (2004)
Hauser, K., Shaw, R.: How medical robots will help treat patients in future outbreaks. In: IEEE Spectrum, p. 6 (2020)
Avgousti, S., Christoforou, E.G., Panayides, A.S., Voskarides, S., Novales, C., Nouaille, L., Pattichis, C.S., Vieyres, P.: Medical telerobotic systems: current status and future trends. BioMedical Engineering OnLine 15(96), 44 (2016)
Marescaux, J., Leroy, J., Gagner, M., Rubino, F., Mutter, D., Vix, M., Butner, S.E., Smith, M.: Transatlantic robot-assisted telesurgery. Nature 413, 379–380 (2001)
Butner, S.E., Ghodoussi, M.: A real-time system for tele-surgery. In: Proceedings 21st International Conference on Distributed Computing Systems, pp. 236–243 (2001)
Guthart, G.S., Salisbury Jr., J.K.: The IntuitiveTM telesurgery system: overview and application. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation, San Francisco, vol. 1, pp. 618–621 (2000)
George, E.I., Brand, T.C., LaPorta, A., Marescaux, J., Satava, R.M.: Origins of robotic surgery: from skepticism to standard of care. J. Soc. Laparoendosc. Surg. JSLS 22(4), 14, 10–12 (2018)
Li, M., Kapoor, A., Taylor, R.H.: Telerobotic control by virtual fixtures for surgical applications. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol. 31, pp. 381–401. Springer, Berlin (2007)
Smith, A., Smith, J., Jayne, D.G.: Telerobotics: surgery for the 21st century. Surgery 24(2), 74–78 (2006)
Topping, M.: An Overview of the development of Handy 1, a rehabilitation robot to assist the severely disabled. J. Intell. Robot. Syst. 34(3), 253–263 (2002)
Balaguer, C., Giménez, A., Jardón, A., Correal, R., Martínez, S., Sabatini, A., Genovese, V.: Proprio and teleoperation of a robotic system for disabled persons’ assistance in domestic environments. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol. 31, pp. 415–427. Springer, Berlin (2007)
Reinoso, O., Fernández, C., Ñeco, R.: User voice assistant tool for teleoperation. In: Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol. 31, pp. 107–120. Springer, Berlin (2007)
Pires, G., Nunes, U.: A wheelchair steered through voice commands and assisted by a reactive fuzzy logic controller. J. Intell. Robot. Syst. 34(3), 301–314 (2002)
Hoppenot, P., Colle, E.: Human-like behavior robot-application to disabled people assistance. In: IEEE International Conference on Systems, Man, and Cybernetics, vol. 1, pp. 155–160 (2000)
Pollack, M.E., Engberg, S., Matthews, J.T., Thrun, S., Brown, L., Colbry, D., Orosz, C., Peintner, B., Ramakrishnan, S., Dunbar-jacob, J., Mccarthy, C., Montemerlo, M., Pineau, J., Roy, N.: Pearl: a mobile robotic assistant for the elderly. In: AAAI Workshop Autom. Eldercare, Alberta (2002)
Wojtara, T., Nonami, K., Shao, H., Yuasa, R., Amano, S., Waterman, D., Nobumoto, Y.: Hydraulic master-slave land mine clearance robot hand controlled by pulse modulation. Mechatronics 15, 589–609 (2005)
Kato, K., Hirose, S.: Development of the quadruped walking robot, TITAN-IX-mechanical design concept and application for the humanitarian demining robot. Adv. Robot. 15(2), 191–204 (2001)
Gonzalez de Santos, P., Garcia, E., Cobano, J.A., Ramirez, A.: SILO6: a six-legged robot for humanitarian de-mining tasks. In: Robotics: Trends, Principles, and Applications—Proceedings of the Sixth Biannual World Automation Congress, WAC (2004)
Habib, M.K.: Humanitarian demining: reality and the challenge of technology-The state of the art. Int. J. Adv. Robot. Syst. 4(2), 151–172 (2007)
Heradio, R., de La Torre, L., Galan, D., Cabrerizo, F.J., Herrera-Viedma, E., Dormido, S.: Virtual and remote labs in education: a bibliometric analysis. Comput. Educ. 98, 14–38 (2016)
Tzafestas, C.S., Palaiologou, N., Alifragis, M.: Virtual and remote robotic laboratory: comparative experimental evaluation. IEEE Trans. Educ. 49(3), 360–369 (2006)
Giralt, X., Jofre, D., Costa, R., Basañez, L.: Proyecto de Laboratorio Remoto de Automática: Objetivos y Arquitectura Propuesta. In: III Jornadas de Trabajo EIWISA 02, Enseñanza vía Internet/Web de la Ingeniería de Sistemas y Automática, Alicante, pp. 93–98 (2002)
Alencastre-Miranda, M., Munoz-Gomez, L., Rudomin, I.: Teleoperating robots in multiuser virtual environments. In: Proceedings of the Fourth Mexican International Conference on Computer Science ENC, Tlaxcala, pp. 314–321 (2003)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Section Editor information
Rights and permissions
Copyright information
© 2023 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Basañez, L., Nuño, E., Aldana, C.I. (2023). Teleoperation and Level of Automation. In: Nof, S.Y. (eds) Springer Handbook of Automation. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-030-96729-1_20
Download citation
DOI: https://doi.org/10.1007/978-3-030-96729-1_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-96728-4
Online ISBN: 978-3-030-96729-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)