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Extensive studies have been conducted on telerobotic operations for decades due to their widespread applications in a variety of areas. Most studies have been focused on two major issues: stability and telepresence. Few have studied the influence of the operation status of the teleoperator on the performance of telerobotic operations. As subnormal operation status of the teleoperator may result in insufficient and even incorrect operations, the quality of teleoperator (QoT) is an important impact on the performance of the telerobotic operations in terms of the efficiency and safety even if both the stability and telepresence are guaranteed. Therefore, this paper investigates the online identification of the QoT and its application to telerobotic operations. The QoT is identified based on five QoT indicators which are generated based on the teleoperator’s brain EEG signals. A QoT adaptive control method is designed to adapt the velocity and responsivity of the robotic system to the operation status of the teleoperator such that the teleoperation efficiency and safety can be enhanced. The online QoT identification method was conducted on various teleoperators and the QoT adaptive control method was implemented on a mobile manipulator teleoperation system. The experimental results demonstrated the effectiveness and advantages of the proposed methods. [ABSTRACT FROM AUTHOR]

We demonstrate an adaptation strategy for adjusting the stride period in a hexapedal running robot. The robot is inspired by discoveries about the self-stabilizing properties of insects and uses a sprawled posture, a bouncing alternating-tripod gait, and passive compliance and damping in the limbs to achieve fast (over four body-lengths per second), stable locomotion. The robot is controlled by an open-loop motor pattern that activates the legs at fixed intervals. For maximum speed and efficiency, the stride period of the pattern should be adjusted to match changes in terrain (e.g., slopes) or loading conditions (e.g., carrying an object). An ideal adaptation strategy will complement the design philosophy behind the robot and take advantage of the self-stabilizing role of the mechanical system. In this paper we describe an adaptation scheme based on measurements of ground contact timing obtained from binary sensors on the robot's feet. We discuss the motivation for the approach, putting it in the context of previous research on the dynamic properties of running machines and bouncing multi-legged animals, and we show the results of the experiments. [ABSTRACT FROM AUTHOR]