Experimental analysis of mobile-robot teleoperation via shared impedance control.

In this paper, Internet-based teleoperation of mobile robots for obstacle avoidance is analyzed. A shared impedance-control scheme is presented, and the results of an experimental study for the evaluation of the effects of different teleoperation parameters are reported. In the experimental study, the effects of time delay, operator training, image-display alternatives (virtual model versus real images), viewpoint, and force-reflection method were studied.