By Topic

A Teleprogramming Method for Internet-based Teleoperation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
Li Jiang ; Robot Res. Inst., Harbin Inst. of Technol., Harbin ; Zongwu Xie ; Bin Wang ; Jie Wang
more authors

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 2600 km far away is conduct, and the results of the experiment show the effectiveness of the proposed method.

Published in:

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Date of Conference:

17-20 Dec. 2006