Telerobotics

  • Günter Niemeyer
  • Carsten Preusche
  • Stefano Stramigioli
  • Dongjun Lee

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.

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

Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Günter Niemeyer
    • 1
  • Carsten Preusche
    • 2
  • Stefano Stramigioli
    • 3
  • Dongjun Lee
    • 4
  1. 1.Disney ResearchGlendaleUSA
  2. 2.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany
  3. 3.Faculty of Electrical Engineering, Mathematics & Computer Science, Control LaboratoryUniversity of TwenteEnschedeNetherlands
  4. 4.Department of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea

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