Survey on bilateral teleoperation of mobile robots

摘要

This paper presents a survey on bilateral teleoperation of mobile robots. We concentrate on the application of force feedback and its benefit in the navigation of mobile robots as well as objects manipulation with (multiple) mobile manipulators. Research works known from the literature are introduced and reviewed in several aspects including mechanisms for force rendering, control methods for force feedback, communication issues, matching of the dynamics and kinematics of the master and slave robots. We also revisit the methodologies of testing and evaluating the bilateral teleoperation of mobile robots. Potentials for future work are outlined to the end of this paper.