Predicting force feedback to enable bilateral teleoperation over long distances
G.C. Maan (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Rangarao Venkatesha Prasad – Mentor (TU Delft - Networked Systems)
Michael Weinmann – Graduation committee member (TU Delft - Computer Graphics and Visualisation)
Herman Kroep – Coach (TU Delft - Networked Systems)
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Abstract
Haptic bilateral teleoperation is a concept where operators can feel, interact with and manipulate objects in a remote environment. The latency, often introduced by a network over a long distance, on force feedback poses a problem when trying to interact with objects. Model mediated teleoperation tries to mitigate this latency, but introduces new problems. Extending on model mediated teleoperation, this thesis uses a physics simulation based model to create an end-to-end system for haptic bilateral teleoperation, implements robotic control for a Novint Falcon and a model to predict force feedback when cutting through objects. Experiments on the implemented cutting model affirm the models accuracy.
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File under embargo until 31-05-2026