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

Table 2

Average data results.

Variable	Left and right side evasion
Min delay	261.85 ms
Max delay	643.6 ms
Average delay	360.5 ms
Task completion time	176.05 s
Forward speed average error	1.54 cm/s
Turning speed average error	1.2 degrees/s