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Teleoperation via the Internet is attracting more and more attention from both academia and industry. Physical interaction with remote environments over IP networks, however, poses many technical challenges that are still outstanding, such as time delay, limited bandwidth, and unreliable transmission. To deal with these problems, the majority of current work is concentrated on developing advanced remote control algorithms or interface techniques whereas data transmission between the human operator and the remote robot through the Internet is often treated as a given condition. This paper describes a novel data transmission architecture, for which the core is the trinomial transport protocol, to facilitate the remote control of Internet robots. The trinomial protocol is analyzed theoretically and its advantages over other existing protocols are verified by simulation and experimental studies.
Date of Publication: Oct. 2005