# 7092 / A Time Domain Passivity Controller for Teleoperation of Four Wheeled Differential... https\:/doi.org/10.56884/BSME8486 Title: A Time Domain Passivity Controller for Teleoperation of Four Wheeled Differential Mobile Robot on Slippery Surface Authors: Hui Xi, Yanjing Li, Pengyu Sun, Weihua Li, and Jianfeng Wang Abstract: Four wheeled differential mobile robots have been widely used in many fields. However, on the slippery surfaces (e.g., marble floor), the tire-terrain contact surfaces may induce phenomena of slipping especially when it turns, which brings big challenges for its teleoperation. Aiming at this difficulty, a time-domain passive controller (TDPC) is proposed in this study to compensate for the active energy generated by the environment termination induced by the tire-terrain interaction, and then a stable teleoperator is designed under the coordination of master robot's position and slave robot's velocity. Experiments with a commercial four wheeled mobile robots on the marble floor are conducted to validate the proposed approach. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://2022.istvs.org/papers/7092.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.