Résumé
The Internet is not only an information super highway, but also a means to remotely control systems, as complex robotic devices for instance. A mobile manipulator able to operate in an hazardous and/or dangerous environments can so be used to replace the operator when his intervention would have been difficult, unsafe or impossible. A typical example of use of such a terrestrial mobile manipulator is the handling of an explosive charge in building sites. The Internet is so a way to enhance the human reachability. However for these remote control services to be reliable, one of the important challenges to overcome is the impact of random time delays (when not using dedicated links) on task synchronization, control stability and operator perception of the remote system state. [...]