Teleoperation of multiple robots through the Internet

The paper describes a human interface system for multirobot teleoperation using the WWW system. In order to realize the multirobot teleoperation, we discuss both of operation problems and network problems. Three levels of operation methods to manipulate robots flexibly and a connecting method between the interface system and WWW system are proposed for these problems. Based on the proposed methods, an interface system utilizing the WWW technology is constructed on the workstation on which our WWW server runs. When the WWW clients require tasks to the robot, the WWW server calls up the interface programs by using CGI scripts. Communication methods between the interface and the robots are defined to realize task coordination by the interface system. By using this system, the operator can carry out inspection tasks from a distant place by teleoperating actual mobile robots.