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A predictor for operator input for time-delayed teleoperation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2010 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 20, no 7, 778-786 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Teleoperation, Time delay, Human motion models
National Category
Telecommunications
Identifiers
URN: urn:nbn:se:kth:diva-27667DOI: 10.1016/j.mechatronics.2010.03.002ISI: 000284556900005Scopus ID: 2-s2.0-77957973886OAI: oai:DiVA.org:kth-27667DiVA: diva2:380712
Note
QC 20101222Available from: 2011-12-12 Created: 2010-12-20 Last updated: 2017-12-11Bibliographically approved

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Smith, ChristianJensfelt, Patric

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  • apa
  • harvard1
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  • vancouver
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  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
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