Virtual elastic wall based motion control for teleoperated demining system

In this paper we proposed a new bilateral teleoperation based soil removing technique for demining system which is supported by geometric virtual wall concept. The virtual wall model was reflected to bilateral telemanipulation system to restrict a motion of the slave manipulator beyond the geometrical virtual wall. The algorithm was experimentally applied to a bilateral telemanipulation system. The experimental results showed that virtual wall can guarantee a generation of smooth surface and dig out the soil without applying too much force to the suspected object in a laboratory environment.