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

Table 1

Nomenclature.

Variable	Definition
	Forward and turn speeds
	Sent by the operator
	Estimated real follower speeds
	used in error dynamics
	Equivalent smoothed speeds
	used for force feedback
	It is a vector that represents the linear
	and turning speeds of the equivalent follower
	Linear speed error
	Joint errors
	Turn speed error
	Walking cycle time
	Leader damping
	Equivalent follower damping
	Real damping of the robot