Intercontinental Bilateral-by-Phases Teleoperation of a 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.