Telerobotics with bilateral control have recently been suggested or explored in space, subsea, micro environment, and handling of hazardous material. It is not difficult to develop such a teleoperation system using of the Internet as a bridge between operators and machines. However, this also comes with several problems : delays, packets lost, and disconnection. All of these limitations may cause unstability and loss of transparency in bilateral teleoperation systems. The purpose of this study is to design a bilateral teleoperation system via the Internet for handling remote vehicles dexterously. This paper addresses to demonstrate a simulation system using CarSim, which is a dynamics simulator of four-wheeled vehicles on real-time systems, instead of remote controlled vehicles. In this system we compensate transmission delays with wave variable transformation based on passivity. Simulation results are presented showing the performance of the resulting control architecture.
