Haptic Tele-Driving of Wheeled Mobile Robots Under Nonideal Wheel Rolling, Kinematic Control and Communication Time Delay
Why this work is in the frame
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Bibliographic record
Abstract
The increasing application of wheeled mobile robots (WMR) in many fields has brought new challenges on its control and teleoperation, two of which are induced by contact slippage phenomenon between wheel and terrain as well as time delays in the master-slave communication channel. In the WMR bilateral tele-driving system, in this paper, the linear velocity of the slave mobile robot follows the position command from the haptic master robot while the slippage-induced velocity error is fed back as a haptic force felt by the human operator. To cope with the slippage-induced nonpassivity and constant time delays, this paper proposes three methods to design the WMR bilateral teleoperation system's controller. An experiment system is set up with Phantom Premium 1.5A haptic device as the master robot and a simulation platform of WMR as the slave robot. Experiments with the proposed methods demonstrate that they can result in a stable WMR bilateral tele-driving system under wheel's slippage and constant time-delays.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it