Stable Adaptive Teleoperation

摘要

Telerobotics, the body of science and technology which bridges human control and purely autonomous machines, is expected to be a merging point of modern developments in robotics, control theory, cognitive science, machine design, and computer science. Besides traditional applications in space, subsea, and handling of hazardous material, many new potential uses of advanced telerobotic systems have recently been suggested or explored, such as safety applications or microsurgery. This paper is a preliminary study of what role recent results in adaptive robot control and the understanding of time-delays may play in the development of effective telerobotics systems, which would best exploit the presence of the human operator while making full use of available robot control technology and computing power. The key paradigm it explores is that of simplifying, transforming, or enhancing the remote dynamics perceived by the operator by proper use of adaptive robot control techniques and tools from passivity theory.