Internet-based remote teleoperation

Brady, Kevin; Tarn, Tzyh-Jong

doi:10.1109/robot.1998.676261

Cited by 138 publications

(35 citation statements)

References 8 publications

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“…Brady and Tarn (1998) discuss Internet-based remote teleoperation including a theoretical foundation for modeling communications delays. Han et al (2001) have proposed a control architecture, which guarantees that a personal robot can avoid obstacles and reduce path error and time difference between a virtual robot at the remote site and a real robot at the local site.…”

Section: Internet As Communication Mediummentioning

confidence: 99%

Untitled

2003

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Abstract. This paper describes an architecture, which can be used to build remote laboratories to interact remotely via Internet with mobile robots using different interaction devices. A supervisory control strategy has been used to develop the remote laboratory in order to alleviate high communication data rates and system sensitivity to network delays. The users interact with the remote system at a more abstract level using high level commands. The local robot's autonomy has been increased by encapsulating all the robot's behaviors in different types of skills. User interfaces have been designed using visual proxy pattern to facilitate any future extension or code reuse. The developed remote laboratory has been integrated into an educational environment in the fiel of indoor mobile robotics. This environment is currently being used as a part of an international project to develop a distributed laboratory for autonomous and teleoperated systems (IECAT, 2003).

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Section: Internet As Communication Mediummentioning

confidence: 99%

Untitled

2003

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“…The irregular time delay is an inevitable and unpredictable phenomenon which is caused by the routing way of the network. To avoid the effect of the delay, many studies take the non-real time control method, the unilateral control method, or the assumption that the delay has upper bound (1) - (5) . However, the real time bilateral control is indispensable to offer the operator a high level telepresence which enables reaction to the variation of the remote environment.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Bilateral Control for an Internet-Based Telerobotic System

Park

Moon

2004

JSME Int. J., Ser. C

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There is a growing tendency to use the Internet as the transmission medium of the telerobotic system since the Internet is inexpensive and available all over the world. However, the bilateral real-time teleroperation can be unstable due to the random time delays of the Internet. The 'Event based teleoperation' is one of the fine approaches to overcome the random time delays. Since the event based control uses a non-time action reference, the stability and response performance of the system are affected by the time which an event is held for. This study introduces the variable holding time to secure stability and response performance at once. The proper holding time for each event is obtained depending on the characteristics of the task through the fuzzy logic. The proposed control scheme was implemented on a robot arm over the Internet to show its effectiveness.

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“…Important issues concerning communication channels, random propagation delays, bandwidth limitations, fault-tolerance, synchronization, tele-presence, and the stability of the robotic systems involving human operators have all been taken into account in different works across the literature (Brady & Tarn, 1998); (Elhajj et al, 2001). Most of them consider Internet as the interconnection network between telecontrolled systems and control stations (Goldberg & Siegwart, 2002).…”

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confidence: 99%