The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a motion deviation at the contact area, which can induce poor command-tracking performance (meaning difference between WMR's actual motion and operator's command) and instability for its teleoperation. Our previous studies have presented some approaches to conservatively ensure the system stability, and a new slippage-dependent teleoperator is proposed herein to further improve the teleoperation performance. The kinematic model is augmented in the presence of slippage, and slippage-induced unstable elements are revealed by passivity analysis. To compensate for the activity and improve the command-tracking performance induced by slippage, the combination of a slippage-dependent forward feedback controller and a traditional position-error-based controller is proposed. Experiments validate that the proposed method can yield a stable system with good command-tracking performance and force transparency compared with previous studies.

中文翻译：

---

软地形上轮式移动机器人的滑移相关遥操作

滑移出现在轮式移动机器人（WMR）的软地形上，并在接触区域产生运动偏差，这可能导致不良的命令跟踪性能（这意味着WMR的实际运动与操作员命令之间存在差异）以及远程操作的不稳定性。我们以前的研究已经提出了一些方法来保守地确保系统稳定性，并且本文提出了一种新的依赖于滑移的远程操作员，以进一步提高远程操作性能。运动模型在存在滑移的情况下得到增强，并通过无源分析揭示了滑移引起的不稳定元素。为了补偿活动并改善滑移引起的命令跟踪性能，提出了滑移相关的前馈控制器和传统的基于位置误差的控制器的组合。实验证明，与以前的研究相比，该方法可以产生一个稳定的系统，并具有良好的命令跟踪性能和强制透明性。