This work presents a multimodal teleoperation framework that makes use of novel tools and techniques, such as: nonlinear teleoperators control, for ensuring position tracking in the presence of variable time-delays; ...

The output-feedback design problem for a bilateral teleoperator scheme is considered. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured ...

This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection ...

This paper presents two versions of adaptive controllers for nonlinear bilateral teleoperators, each providing asymptotic convergence of velocity and position errors to zero, independent of constant time-delays. Moreover, ...

This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, and for assisting the execution of teleoperated tasks featuring precise or repetitive movements. ...

This work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters ...

The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the ...

This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler–Lagrange equations. It is assumed that the communication graph is simply connected and that the ...