TY - GEN
T1 - A teleprogramming method for internet-based teleoperation
AU - Jiang, Zainan
AU - Xie, Zongwu
AU - Wang, Bin
AU - Wang, Jie
AU - Huang, Jianbin
AU - Liu, Hong
PY - 2006
Y1 - 2006
N2 - A teleprogramming method is presented in this paper for the Internet-based teleoperation. Since the Internet introduces random communication delays, limit of bandwidth and data loss, several challenges, such as instability and loss of transparency, may arise. The proposed teleprogramming method is used to settle the problems caused by Internet. Based on the remote robot local autonomy, by transmitting high level commands, the instability caused by the communication delay of Internet is avoided. The little information of robot joint angles instead of the real-time video stream of the robot are fed back to resolve the limit of bandwidth, and a simple method is presented to deal with the data loss. The virtual force calculated from the error between the desired angle and the current angle of the robot, is fed back to the operator to improve the transparency of teleoperation. An Internet-based teleoperation system between Wuhan(China) and Harbin(China) about 2600km far away is conduct, and the results of the experiment show the effectiveness of the proposed method.
AB - A teleprogramming method is presented in this paper for the Internet-based teleoperation. Since the Internet introduces random communication delays, limit of bandwidth and data loss, several challenges, such as instability and loss of transparency, may arise. The proposed teleprogramming method is used to settle the problems caused by Internet. Based on the remote robot local autonomy, by transmitting high level commands, the instability caused by the communication delay of Internet is avoided. The little information of robot joint angles instead of the real-time video stream of the robot are fed back to resolve the limit of bandwidth, and a simple method is presented to deal with the data loss. The virtual force calculated from the error between the desired angle and the current angle of the robot, is fed back to the operator to improve the transparency of teleoperation. An Internet-based teleoperation system between Wuhan(China) and Harbin(China) about 2600km far away is conduct, and the results of the experiment show the effectiveness of the proposed method.
KW - Force feedback
KW - Teleoperation
KW - Teleprogramming
UR - https://www.scopus.com/pages/publications/46249112458
U2 - 10.1109/ROBIO.2006.340229
DO - 10.1109/ROBIO.2006.340229
M3 - 会议稿件
AN - SCOPUS:46249112458
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 422
EP - 426
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
PB - IEEE Computer Society
T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007
Y2 - 17 December 2006 through 20 December 2006
ER -