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1 Introduction
Robot teleoperation is a solution for many problems which cannot be
solved neither by a robot alone, nor by the sole human intervention.
Teleoperation of a robotic manipulator is widely used for tasks where
a high precision of movements is required, or when the scale of the
task forbids direct human intervention, as in robotic surgery [1, 2].
Besides, robots can be teleoperated to execute exploration or manipu-
lation tasks in unknown, inaccessible, or dangerous environments where
human beings could not operate safely, e.g. in deep waters, in plane-
tary or volcanoes exploration, in USAR (Urban Search And Rescue)
applications, for bomb finding and their deactivation [3–7].
Figure 1: Telerobotics applications: robotic surgery, exploration of volcanoes, deep
waters, planets.
On the other hand, as the sophistication of techniques for manag-
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