Teleoperaded Backhoe Excavator with Haptic Control

Teleoperation has demonstrated its utility to work in hazardous and non­ structured environments. Nuclear and spatial applications have used telerobotics for remote manipulation in assembly or inspection tasks. In the near future, new tasks related with soil movements and other construction and civil engineering activities will be necessary in nuclear and spatial applications. In this paper a teleoperated backhoe excavator, remotely operated using visual and force feedback to the operator is presented. Different force, feedback strategies and kinematic master-slave relation are discussed.