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This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robotswith force feedback, considering the performance of the operator’s command execution. In addition, thestability of the system is analyzed taking into account the dynamic model of the master as well as theremote mobile robot under asymmetric and time-varying delays of the communication channel. Besides,the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeleddynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated,based on the system architecture proposed.

Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric