A Minimum Jerk Predictor for Teleoperation with Variable Time Delay
2009 (English)In: 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, NEW YORK: IEEE , 2009, 5621-5627 p.Conference paper (Refereed)
In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to, he one-way communication delay. We present results from a teleoperated ball-catching experiment with real internet delays, where we show that the proposed method makes a significant improvement over traditional methods for teleoperation over intercontinental distances.
Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 5621-5627 p.
Bandwidth, Control systems, Delay effects, Delay systems, Humans, Intelligent robots, Internet, Mars, Motion control, Predictive models
Other Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-33487DOI: 10.1109/IROS.2009.5354597ISI: 000285372903082ScopusID: 2-s2.0-76249103201ISBN: 978-1-4244-3803-7OAI: oai:DiVA.org:kth-33487DiVA: diva2:415649
International Conference on Intelligent Robots and Systems, 2009. IROS 2009
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QC 201105092012-01-112011-05-092012-01-11Bibliographically approved