For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. Such a capability has been the goal of many studies and significant success has been reported in recent years.

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