Skip to main content
SpringerLink
Log in

Telerobotics

  • Reference work entry
Book cover Springer Handbook of Robotics

Abstract

In this chapter we present an overview of the field of telerobotics with a focus on control aspects. Motivated by an historical prespective and some challenging applications of this research area a classification of control architectures is given, including an introduction to the different strategies. An emphasis is taken on bilateral control and force feedback, which is a vital research field today. Finally we suggest some literature for a closer engagement with the topic of telerobotics.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 309.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Abbreviations

ASM:

advanced servomanipulator

CEA:

Commission de Energie Atomique

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

DOF:

degree of freedom

EVA:

extravehicular activity

ISS:

input-to-state stability

JPL:

Jet Propulsion Laboratory

NASA:

National Aeronautics and Space Agency

PD:

proportional-derivative

ROKVISS:

robotic components verification on the ISS

ROTEX:

robot technology experiment

TSP:

telesensor programming

tEODor:

telerob explosive ordnance disposal and observation robot

References

  1. M. Buss, G. Schmidt: Control problems in multi-modal telepresence systems, Adv. Control, Highlights Eur. Control Conf. (ECCʼ99) (1999) pp. 65–101

    Google Scholar 

  2. W.R. Ferell, T.B. Sheridan: Supervisory control of remote manipulation, IEEE Spectrum 4(10), 81–88 (1967)

    Article  Google Scholar 

  3. R.C. Goertz: Fundamentals of general-purpose remote manipulators, Nucleonics 10(11), 36–42 (1952)

    Google Scholar 

  4. R.C. Goertz: Mechanical master–slave manipulator, Nucleonics 12(11), 45–46 (1954)

    Google Scholar 

  5. R.C. Goertz, F. Bevilacqua: A force-reflecting positional servomechanism, Nucleonics 10(11), 43–45 (1952)

    Google Scholar 

  6. W.R. Ferell: Remote manipulation with transmission delay, IEEE Trans. Hum. Factors Electron. 6, 24–32 (1965)

    Google Scholar 

  7. T.B. Sheridan, W.R. Ferell: Remote manipulative control with transmission delay, IEEE Trans. Hum. Factors Electron. 4, 25–29 (1963)

    Article  Google Scholar 

  8. F. Miyazaki, S. Matsubayashi, T. Yoshimi, S. Arimoto: A new control methodology towards advanced teleoperation of master–slave robot systems, Proc. IEEE Int. Conf. Robot. Autom., Vol. 3 (1986) pp. 997–1002

    Google Scholar 

  9. R.J. Anderson, M.W. Spong: Asymptotic stability for force reflecting teleoperators with time delay, Int. J. Robot. Res. 11(2), 135–149 (1992)

    Article  Google Scholar 

  10. G. Niemeyer, J.-J.E. Slotine: Stable adaptive teleoperation, IEEE J. Oceanogr. Eng. 16(1), 152–162 (1991)

    Article  Google Scholar 

  11. J.E. Colgate: Robust impedance shaping telemanipulation, IEEE Trans. Robot. Autom. 9(4), 374–384 (1993)

    Article  Google Scholar 

  12. B. Hannaford: A design framework for teleoperators with kinesthetic feedback, IEEE Trans. Robot. Autom. 5(4), 426–434 (1989)

    Article  Google Scholar 

  13. D.A. Lawrence: Stability and transparency in bilateral teleoperation, IEEE Trans. Robot. Autom. 9(5), 624–637 (1993)

    Article  MathSciNet  Google Scholar 

  14. D. Kuban, H.L. Martin: An advanced remotely maintainable servomanipulator concept, Proc. 1984 Natl. Top. Meet. Robot. Remote Handl. Hostile Environ. (American Nuclear Society, Washington 1984)

    Google Scholar 

  15. J. Vertut, P. Coiffet: Teleoperation and Robotics: Evolution and Development, Robot Technol., Vol. 3A (Hermes, Oslo 1985)

    Google Scholar 

  16. J. Vertut: MA23M contained servo manipulator with television camera, PICA and PIADE telescopic supports, with computer-integrated control, Proc. 28th Remote Syst. Technol. Conf., Vol. 2 (1980) pp. 13–19

    Google Scholar 

  17. J. Vertut, P. Coiffet: Bilateral servo manipulator MA23 in direct mode and via optimized computer control, Proc. 2nd RMS Conf., Vol. 12 (1977)

    Google Scholar 

  18. A.K. Bejczy: Towards advanced teleoperation in space. In: Teleoperation and Robotics in Space, Prog. Astronaut. Aeronaut., Vol. 161, ed. by S.B. Skaar, C.F. Ruoff (American Institue of Aeronautics and Astronautics, Reston 1994) pp. 107–138

    Google Scholar 

  19. T.H. Massie, J.K. Salisbury: The phantom haptic interface: A device for probing virtual objects, Proc. ASME Int. Mech. Eng. Congr. Exhib. (Chicago 1994) pp. 295–302

    Google Scholar 

  20. G. Hirzinger, B. Brunner, J. Dietrich, J. Heindl: Sensor-based space robotics – ROTEX and its telerobotic features, IEEE Trans. Robot. Autom. 9(5), 649–663 (1993)

    Article  Google Scholar 

  21. J. Marescaux, J. Leroy, F. Rubino, M. Vix, M. Simone, D. Mutter: Transcontinental robot assisted remote telesurgery: Feasibility and potential applications, Ann. Surg. 235, 487–492 (2002)

    Article  Google Scholar 

  22. G.H. Ballantyne: Robotic surgery, telerobotic surgery, telepresence, and telementoring – Review of early clinical results, Surg. Endosc. 16(10), 1389–1402 (2002)

    Article  Google Scholar 

  23. G.S. Guthart, J.K. Salisbury: The Intuitive™ telesurgery system: Overview and application, Proc. IEEE Int. Conf. Robot. Autom. (San Francisco 2000) pp. 618–621

    Google Scholar 

  24. J.M. Sackier, Y. Wang: Robotically assisted laparoscopic surgery: From concept to development. In: Computer-Integrated Surgery: Technology and Clinical Applications, ed. by R.H. Taylor, S. Lavallée, G.C. Burdea, R. Mösges (MIT Press, Cambridge 1996) pp. 577–580, Chap. 45

    Google Scholar 

  25. D.H. Birkett: Electromechanical instruments for endoscopic surgery, Minimally Invasive Therapy and Allied Technologies 10(6), 271–274 (2001)

    Article  Google Scholar 

  26. J. Rosen, B. Hannaford: Doc at a distance, IEEE Spectrum 8(10), 34–39 (2006)

    Article  Google Scholar 

  27. A.M. Okamura: Methods for haptic feedback in teleoperated robot-assisted surgery, Industr. Robot 31(6), 499–508 (2004)

    Article  Google Scholar 

  28. T. Ortmaier, B. Deml, B. Kübler, G. Passig, D. Reintsema, U. Seibold: Robot assisted force feedback surgery. In: Advances in Telerobotics, Springer Tracts Adv. Robot., Vol. 31, ed. by M. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer (Springer, Berlin, Heidelberg 2007) pp. 361–79, Chap. 21

    Chapter  Google Scholar 

  29. B.M. Yamauchi: PackBot: A versatile platform for military robotics, Proc. SPIE 5422, 228–237 (2004)

    Article  Google Scholar 

  30. R.R. Murphy: Trial by fire [rescue robots], IEEE Robot. Autom. Mag. 11(3), 50–61 (2004)

    Article  Google Scholar 

  31. J. Wright, A. Trebi-Ollennu, F. Hartman, B. Cooper, S. Maxwell, J. Yen, J. Morrison: Driving a Rover on Mars Using the Rover Sequencing and Visualization Program, International Conference on Instrumentation, Control and Information Technology (Okayama University, Okayama 2005)

    Google Scholar 

  32. G. Hirzinger, K. Landzettel, D. Reintsema, C. Preusche, A. Albu-Schäffer, B. Rebele, M. Turk: ROKVISS – Robotics component verification on ISS, Proc. 8th Int. Symp. Artif. Intell. Robot. Autom. Space (iSAIRAS) (Munich 2005) p. Session2B

    Google Scholar 

  33. C. Preusche, D. Reintsema, K. Landzettel, G. Hirzinger: ROKVISS – Preliminary results for telepresence mode, Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS) (Peking 2006) pp. 4595–4601

    Google Scholar 

  34. G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche, D. Reintsema, A. Albu-Schäffer, G. Schreiber, M. Steinmetz: DLRʼs robotics technologies for on-orbit servicing, Adv. Robot. – Special Issue Service Robots in Space 18(2), 139–174 (2004)

    Google Scholar 

  35. T.B. Sheridan: Telerobotics, Automation and Human Supervisory Control (MIT Press, Cambridge 1992)

    Google Scholar 

  36. G. Hirzinger, J. Heindl, K. Landzettel, B. Brunner: Multisensory shared autonomy – a key issue in the space robot technology experiment ROTEX, Proc. RSJ/IEEE Int. Conf. Intell. Robot. Syst. (1992)

    Google Scholar 

  37. A.K. Bejczy, W.S. Kim: Predictive displays and shared compliance control for time-delayed telemanipulation, IEEE Int. Workshop Intell. Robot. Syst. (Ibaraki 1990) pp. 407–412

    Google Scholar 

  38. P. Backes, K. Tso: UMI: An interactive supervisory and shared control system for telerobotics, Proc. IEEE Int. Conf. Robot. Autom., Cincinatti (1990) pp. 1096–1101

    Google Scholar 

  39. L. Conway, R. Volz, M. Walker: Tele-autonomous systems: Methods and architectures for intermingling autonomous and telerobotic technology, Proc. IEEE Int. Conf. Robot. Autom., Vol. 2 (Raleigh 1987) pp. 1121–1130

    Google Scholar 

  40. S. Hayati, S.T. Venkataraman: Design and implementation of a robot control system with traded and shared control capability, Proc. IEEE Int. Conf. Robot. Autom., Vol. 3 (Scottsdale 1989) pp. 1310–1315

    Google Scholar 

  41. G. Hirzinger, B. Brunner, J. Dietrich, J. Heindl: ROTEX – The first remotely controlled robot in space, Proc. IEEE Int. Conf. Robot. Autom., Vol. 3 (San Diego 1994) pp. 2604–2611

    Google Scholar 

  42. B. Brunner, K. Arbter, G. Hirzinger: Task directed programming of sensor based robots, Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Vol. 2 (Munich 1994) pp. 1080–1087

    Google Scholar 

  43. T. Ortmaier, M. GrÖger, D.H. Boehm, V. Falk, G. Hirzinger: Motion estimation in beating heart surgery, IEEE Transactions on Biomedical Engineering (TBME) 52(10), 1729–1740 (2005)

    Article  Google Scholar 

  44. L. Rosenberg: Virtual fixtures: Perceptual tools for telerobotic manipulation, Proc. IEEE Virtual Real. Int. Symp., New York (Seattle 1993) pp. 76–82

    Google Scholar 

  45. J.J. Abbott, P. Marayong, A.M. Okamura: Haptic virtual fixtures for robot-assisted manipulation, Proc. 12th Int. Symp. Robot. Res., Vol. 28 (2007) pp. 49–64

    Google Scholar 

  46. M.J. Massimino, T.B. Sheridan, J.B. Roseborough: One handed tracking in six degrees of freedom, Proc. IEEE Int. Conf. Syst. Man Cybern., Vol. 2 (Cambridge 1989) pp. 498–503

    Google Scholar 

  47. A. Casals, L. Munoz, J. Amat: Workspace deformation based teleoperation for the increase of movement precision, Proc. IEEE Int. Conf. Robot. Autom. (Taipei 2003) pp. 2824–2829

    Google Scholar 

  48. F. Conti, O. Khatib: Spanning large workspaces using small haptic devices, Proc. 1st Joint Eurohaptics Conf. Symp. Haptic Interfaces Virtual Environ. Teleoper. Syst. (Pisa 2005) pp. 183–188

    Google Scholar 

  49. R.W. Daniel, P.R. McAree: Fundamental limits of performance for force reflecting teleoperation, Int. J. Robot. Res. 17(8), 811–830 (1998)

    Article  Google Scholar 

  50. M.J. Massimino, T.B. Sheridan: Sensory substitution for force feedback in teleoperation, Presence Teleoper. Virtual Environ. 2(4), 344–352 (1993)

    Google Scholar 

  51. D.A. Kontarinis, R.D. Howe: Tactile display of vibratory information in teleoperation and virtual environments, Presence Teleoper. Virtual Environ. 4(4), 387–402 (1995)

    Google Scholar 

  52. D.A. Kontarinis, J.S. Son, W.J. Peine, R.D. Howe: A tactile shape sensing and display system for teleoperated manipulation, Proc. IEEE Int. Conf. Robot. Autom. (Nagoya 1995) pp. 641–646

    Google Scholar 

  53. J.J. Gil, A. Avello, Á. Rubio, J. Flórez: Stability analysis of a 1 DOF haptic interface using the Routh–Hurwitz criterion, IEEE Trans. Control Syst. Technol. 12(4), 583–588 (2004)

    Article  Google Scholar 

  54. N. Hogan: Controlling impedance at the man/ machine interface, Proc. IEEE Int. Conf. Robot. Autom. (Scottsdale 1989) pp. 1626–1631

    Google Scholar 

  55. R.J. Adams, B. Hannaford: Stable haptic interaction with virtual environments, IEEE Trans. Robot. Autom. 15(3), 465–474 (1999)

    Article  Google Scholar 

  56. K. Hashtrudi-Zaad, S.E. Salcudean: Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators, Int. J. Robot. Res. 20(6), 419–445 (2001)

    Article  Google Scholar 

  57. Y. Yokokohji, T. Yoshikawa: Bilateral control of master-slave manipulators for ideal kinesthetic coupling – formulation and experiment, IEEE Trans. Robot. Autom. 10(5), 605–620 (1994)

    Article  Google Scholar 

  58. K.B. Fite, J.E. Speich, M. Goldfarb: Transparency and stability robustness in two-channel bilateral telemanipulation, ASME J. Dyn. Syst. Meas. Control 123(3), 400–407 (2001)

    Article  Google Scholar 

  59. S.E. Salcudean, M. Zhu, W.-H. Zhu, K. Hashtrudi-Zaad: Transparent bilateral teleoperation under position and rate control, Int. J. Robot. Res. 19(12), 1185–1202 (2000)

    Article  Google Scholar 

  60. W.R. Ferrell: Remote manipulation with transmission delay, IEEE Trans. Hum. Factors Electron. 6, 24–32 (1965)

    Google Scholar 

  61. T.B. Sheridan: Space teleoperation through time delay: Review and prognosis, IEEE Trans. Robot. Autom. 9(5), 592–606 (1993)

    Article  Google Scholar 

  62. A. Eusebi, C. Melchiorri: Force reflecting telemanipulators with time-delay: Stability analysis and control design, IEEE Trans. Robot. Autom. 14(4), 635–640 (1998)

    Article  Google Scholar 

  63. W.S. Kim, B. Hannaford, A.K. Bejczy: Force-reflection and shared compliant control in operating telemanipulators with time delays, IEEE Trans. Robot. Autom. 8(2), 176–185 (1992)

    Article  Google Scholar 

  64. K. Hashtrudi-Zaad, S.E. Salcudean: Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation, IEEE Trans. Robot. Autom. 18(1), 108–114 (2002)

    Article  Google Scholar 

  65. R. Oboe, P. Fiorini: A design and control environment for internet-based telerobotics, Int. J. Robot. Res. 17(4), 433–449 (1998)

    Article  Google Scholar 

  66. S. Munir, W.J. Book: Control techniques and programming issues for time delayed internet based teleoperation, J. Dyn. Syst. Meas. Control 125(2), 205–214 (2003)

    Article  Google Scholar 

  67. S. Hirche, M. Buss: Transparent data reduction in networked telepresence and teleaction systems. Part II: Time-delayed communication, Presence Teleoper. Virtual Environ. 16(5), 532–542 (2007)

    Article  Google Scholar 

  68. S. Stramigioli, A. van der Schaft, B. Maschke, C. Melchiorri: Geometric scattering in robotic telemanipulation, IEEE Trans. Robot. Autom. 18(4), 588–596 (2002)

    Article  Google Scholar 

  69. B. Hannaford, J.H. Ryu: Time domain passivity control of haptic interfaces, IEEE Trans. Robot. Autom. 18(1), 1–10 (2002)

    Article  Google Scholar 

  70. J.-H. Ryu, C. Preusche, B. Hannaford, G. Hirzinger: Time domain passivity control with reference energy following, IEEE Trans. Control Syst. Technol. 13(5), 737–742 (2005)

    Article  Google Scholar 

  71. J. Artigas, C. Preusche, G. Hirzinger: Time domain passivity-based telepresence with time delay, Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Peking (Peking 2006) pp. 4205–4210

    Google Scholar 

  72. G. Niemeyer, J.-J.E. Slotine: Telemanipulation with time delays, Int. J. Robot. Res. 23(9), 873–890 (2004)

    Article  Google Scholar 

  73. N.A. Tanner, G. Niemeyer: High-frequency acceleration feedback in wave variable telerobotics, IEEE/ASME Trans. Mechatron. 11(2), 119–127 (2006)

    Article  Google Scholar 

  74. S. Munir, W.J. Book: Internet-based teleoperation using wave variables with prediction, IEEE/ASME Trans. Mechatron. 7(2), 124–133 (2002)

    Article  Google Scholar 

  75. M. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balague (Eds.): Advances in Telerobotics, Springer Tracts Adv. Robot. (Springer, Berlin, Heidelberg 2007)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering Design Group, Terman Engineering Center, Stanford University, 94305-4021, Stanford, CA, USA

    Günter Niemeyer Dr.

  2. Institut für Robotik und Mechatronik, Deutsches Zentrum für Luft- und Raumfahrt (DLR) Oberpfaffenhofen, Münchner Str. 20, 82234, Wessling, Germany

    Carsten Preusche

  3. Institut für Robotik und Mechatronik, Deutsches Zentrum für Luft- und Raumfahrt (DLR) Oberpfaffenhofen, Münchner Str. 20, 82230, Wessling, Germany

    Gerd Hirzinger Dr.

Authors
  1. Günter Niemeyer Dr.
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Carsten Preusche
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Gerd Hirzinger Dr.
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Günter Niemeyer Dr. , Carsten Preusche or Gerd Hirzinger Dr. .

Editor information

Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

Rights and permissions

Reprints and permissions

Copyright information

© 2008 Springer-Verlag

About this entry

Cite this entry

Niemeyer, G., Preusche, C., Hirzinger, G. (2008). Telerobotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_32

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-30301-5_32

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation