Haptic tele-driving of a wheeled mobile robot over the Internet: A PSPM approach

Abstract

We extend recently proposed passive set-position modulation (PSPM) framework for the wheeled mobile robots (WMR) tele-driving over the Internet with varying-delay and packet-loss. We consider both the dynamic and kinematic WMRs in various tele-driving modes. Passivity and/or stability of the closed-loop system are shown along with some theoretical performance measures. Experimental results are also given to show the efficacy of the proposed frameworks.