A predictor for operator input for time-delayed teleoperation
2010 (English)In: Mechatronics (Oxford), ISSN 0957-4158, Vol. 20, no 7, 778-786 p.Article in journal (Refereed) Published
In this paper we describe a method for bridging Internet time delays in a free motion type teleoperation scenario in an unmodeled remote environment with video feedback The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the round-trip communication delay The predictions are then used to control a remote robot Thus the operator can in effect observe the resulting motion of the remote robot with virtually no time-delay even in the presence of a delay on the physical communications channel We present results from a visually guided teleoperated line tracing experiment with 100 ms round-trip delays where we show that the proposed method makes a significant performance improvement for teleoperation with delays corresponding to intercontinental distances.
Place, publisher, year, edition, pages
2010. Vol. 20, no 7, 778-786 p.
Teleoperation, Time delay, Human motion models
IdentifiersURN: urn:nbn:se:kth:diva-27667DOI: 10.1016/j.mechatronics.2010.03.002ISI: 000284556900005ScopusID: 2-s2.0-77957973886OAI: oai:DiVA.org:kth-27667DiVA: diva2:380712
QC 201012222011-12-122010-12-202012-01-10Bibliographically approved