Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays

<div>Stability surfaces, is visualized as the real damping and walking cycle time change, taking different <span class="nowrap"><svg height="11.6869pt" id="M194" style="vertical-align:-3.051001pt" version="1.1" viewbox="-0.0498162 -8.6359 15.6015 11.6869" width="15.6015pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 0V24L339 665L311 657L43 24V0H600ZM497 50H107L303 539L497 50Z"></path></g><g transform="matrix(.013,0,0,-0.013,8.327,0)"><path d="M212 391V464C146 445 80 427 26 418V388C75 381 84 376 84 321V-128C84 -184 80 -192 16 -198V-230H294V-198C216 -191 212 -184 212 -127V0C227 -6 249 -12 274 -12C402 17 517 114 517 261C517 357 454 454 336 454C319 454 301 447 281 435L212 391ZM212 354C229 369 250 378 275 378C324 378 385 333 385 210C385 106 347 38 293 38C268 38 231 59 212 77V354Z"></path></g></svg>:</span> (a) <span class="nowrap"><svg height="15.4775pt" id="M195" style="vertical-align:-6.8416pt" 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Journal of Robotics

fig6

Figure 6

Figure 6: Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays 