In real-life teleoperation scenarios, the presence of time-varying network delays, particularly in wireless networks, poses significant challenges in maintaining stability in a bilateral teleoperation system. Various approaches have been proposed in the past to address stability concerns; however, these often come at the expense of system transparency. Nevertheless, increasing transparency is crucial in a teleoperation system to enable precise and safe operations, as well as to provide real-time decision-making capabilities for the operator. This paper presents our comprehensive approaches to maximize teleoperation transparency by minimizing system impedance, enhance the wave variable method to handle time-varying network delays, and alleviate non-smooth effects caused by network jitters in bilateral teleoperation. The proposed methodologies take into account the real-world challenges and considerations to ensure the practical applicability and effectiveness of the teleoperation system. Throughout these implementations, passivity analysis is employed to ensure system stability, guaranteeing a reliable and safe teleoperation experience. The proposed approaches were successfully validated in Team Northeastern’s Avatar telepresence system, which achieved the 3rd place in ANA Avatar XPRIZE challenge.

在现实生活中的远程操作场景中，时变网络延迟的存在，特别是在无线网络中，对维持双边远程操作系统的稳定性提出了重大挑战。过去已经提出了各种方法来解决稳定性问题；然而，这些往往是以牺牲系统透明度为代价的。尽管如此，提高远程操作系统的透明度对于实现精确和安全的操作以及为操作员提供实时决策能力至关重要。本文提出了我们通过最小化系统阻抗来最大化远程操作透明度的综合方法，增强波变量方法来处理时变网络延迟，并减轻双边远程操作中网络抖动引起的非平滑影响。所提出的方法考虑到现实世界的挑战和考虑因素，以确保远程操作系统的实际适用性和有效性。在这些实施过程中，采用被动性分析来确保系统稳定性，保证可靠、安全的远程操作体验。所提出的方法在 Team Northeastern 的 Avatar 远程呈现系统中得到了成功验证，该系统在 ANA Avatar XPRIZE 挑战赛中获得了第三名。