Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control
Prado, Diego Fernandez Chen, Xiao Elsner, Jean Sadeghian, Hamid Rajaei, Nader Naceri, Abdeldjallil Haddadin, Sami Steinbach, Eckehard
Prado, Diego Fernandez
Chen, Xiao
Elsner, Jean
Sadeghian, Hamid
Rajaei, Nader
Naceri, Abdeldjallil
Haddadin, Sami
Steinbach, Eckehard
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Department
Robotics
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Conference proceeding
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Abstract
Teleoperation with haptic feedback allows users to interact with remote environments while retaining a sense of touch. However, the stability and transparency of these systems are compromised under communication network delay. This paper presents an augmented Model-Mediated Teleoperation with 3D object and dynamic environment tracking (MMT-DET) by a vision-based algorithm, enabling users to receive haptic feedback in structured dynamic environments while maintaining robustness against network delays. A user study comparing the proposed method with teleoperation using the Time Domain Passivity Approach (TDPA) was conducted. The results demonstrate that our MMT-DET exhibits robustness to varying delays in task performance and outperforms TDPA at higher delay levels.
Citation
Source
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference
International Conference on Intelligent Robots and Systems (IROS)
Keywords
40 Engineering, 4007 Control Engineering, Mechatronics and Robotics, 46 Information and Computing Sciences, 4608 Human-Centred Computing
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Source
International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE