Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application

In a companion paper [1], we propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots over delayed communication network. In this paper, we perform simulation and semi-experiment (i.e. real master and simulated slaves) to illustrate and validate properties of the proposed control scheme. In particular, the three key properties of the proposed control framework are highlighted in this paper: 1) cooperative fixtureless grasping and manipulation of inertial and deformable objects by multiple slave robots; 2) passive teleoperation of the overall behavior of the multiple slave robots (and the grasped object) over the delayed communication with force reflection; and 3) grasping safety (i.e. secure grasping) and interaction stability regardless of the communication delay and human command.