Instability due to delayed communication is one of the main challenges in the coupling of autonomous robots but also in teleoperation with applications reaching from space to tele-healthcare scenarios. The Time Domain Passivity Approach assures stability despite delay and has already been validated in teleoperation scenarios from the International Space Station. It has been improved by a method considering energy reflection of the coupling controller recently. This extension has been shown to provide better performance in terms of position tracking and transmitted impedances which promises increased transparency for a human operator. This letter presents the 6-DoF implementation of the energy-reflection based approach and of an extended gradient method which promises to maintain the physical coupling behavior despite delay. An intense experimental validation confirms the performance increase due to both methods at delays up to 600 ms in the 6-DoF case.

中文翻译：

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保留物理耦合行为的基于能量反射的时域无源方法的 6-DoF 实现

由于延迟通信导致的不稳定性是自主机器人耦合的主要挑战之一，也是远程操作与从太空到远程医疗场景的应用程序的主要挑战之一。尽管存在延迟，时域无源方法仍可确保稳定性，并且已在国际空间站的遥操作场景中得到验证。最近通过一种考虑耦合控制器能量反射的方法对其进行了改进。这种扩展已被证明在位置跟踪和传输阻抗方面提供了更好的性能，这有望为人类操作员提供更高的透明度。这封信介绍了基于能量反射的方法和扩展梯度方法的 6-DoF 实现，该方法有望在延迟的情况下保持物理耦合行为。