Résumé
In multimodal tele-cooperation as considered in this paper two humans in distant locations jointly perform a task requiring multimodal including haptic feedback. One human operator teleoperates a remotely placed humanoid robot which is collocated with the human cooperator. Time delay in the communication channel as destabilizing factor is one of the multiple challenges associated with such a tele-cooperation setup. In this paper we employ a control architecture with force-position exchange accounting for the admittance type of the haptic input device and the telerobot, which both are position-based admittance controlled. Llewellyn's stability criteria are employed for the parameter tuning of the virtual impedances in the presence of time delay. The control strategy is successfully validated in an intercontinental tele-cooperation experiment with the humanoid telerobot HRP-2 located in Japan/Tsukuba and a multimodal human-system-interface located in Germany/Munich, see also the corresponding video submission. The proposed setup gives rise to a large number of exciting new research questions to be addressed in the future.