Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot



Locomotion, manipulation, intercontinental bilateral teleoperation, time delay, humanoid robot


This document proposes a control scheme applied to delayed bilateral-by-phases teleoperation of the locomotion and manipulation of a humanoid robot, where each phase works depending on the decision of the human operator. Besides, balance control, adaptive controller, and force feedback are applied. The implementation is described and the results obtained from experiments of intercontinental teleoperation for a pick and place task with a NAO robot-driven at distance with a haptic device, are shown and summarized.


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Author Biographies

Viviana Moya, Instituto de Automática, Universidad Nacional de San Juan

Viviana Moya received her degree in Electronics and Control Engineering from the Escuela Politécnica Nacional (EPN), Quito-Ecuador, in 2016. She is currently studying a PhD in Control Systems Engineering at the Universidad Nacional de San Juan (UNSJ) with a scholarship from DAAD Germany. Her area of interest is teleoperation systems and automatic control.

Emanuel Slawiñski, Instituto de Automática, Universidad Nacional de San Juan

Emanuel Slawiñski received his PhD degree in Control Systems Engineering from the Universidad Nacional de San Juan (UNSJ), San Juan, Argentina, in 2006. He is a Researcher of the Consejo Nacional de Investigaciones Científicas y Técnicas de Argentina (CONICET) and is a Professor at the UNSJ in the electronic engineering careers, as well as in the doctorate. His areas of interest are: delayed bilateral teleoperation systems, human factors and haptic feedback.

Vicente Mut, Instituto de Automática, Universidad Nacional de San Juan

Vicente Mut received his PhD degree in Control Systems Engineering from the Universidad Nacional de San Juan (UNSJ), San Juan, Argentina, in 1995. Currently, he is a professor at the UNSJ, developing research and teaching activities in the undergraduate and graduate programs of the Institute of Automatics and the Department of Electronics and Automatics. His research interests focus on robotics, manufacturing systems, adaptive control and artificial intelligence applied to automatic control.

Bernardo Wagner, Hannover University

Bernardo Wagner received his M.Sc. degree (Dipl.-Ing.) 1984 and his Ph.D. degree (Dr.-Ing.) 1989 in electrical engineering from the University of Stuttgart, Germany. Full Professor at the University of Hannover since 1997. Member of the Faculty of Electrical Engineering and Computer Science and is in charge of the Real-Time Systems (RTS) Group. In addition, he is director of the Center for Technical Didactics (ZDT). His main research interests focus on autonomous service robots, especially robot perception, as well as distributed real-time systems.


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How to Cite

Moya, V., Slawiñski, E., Mut, V., & Wagner, B. (2021). Intercontinental Bilateral-by-Phases Teleoperation of a Humanoid Robot. IEEE Latin America Transactions, 20(1), 64–72. Retrieved from