This paper presents an augmented 4 channel architecture for stable teleoperation under time delay by using damping injection on each robot The 4 channel architecture is optimized for good performance, but can easily become unstable under delay. By introducing local damping to the robots, we can obtain a 4 channel teleoperation architecture which is more robust against time delays. By using the hybrid matrix and the network stability parameter based on Llewelleyn's Absolute Stability criterion, we show that local damping makes the 4 channel teleoperation much more stable even under time delay. We also analyze the transparency of this system. Furthermore we confirm the validity of our approach with experiments on a teleoperator system which is stable under time delay.
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