Tele-Operation
In this research, robotic tele-collaboration using a network
with communication time delay was discussed. Recently,
collaboration tasks have rapidly emerged in many possible
applications such as plant maintenance and telesurgery, because
multi-robot collaboration can have a significant advantage over a
single robot in such cases. Problems and several noticeable
results have been reported in a single teleoperation system.
However, the effect of time-delay would pose a more difficult
problem to the tele-collaboration and seriously affect its
performance. In this work, first, some of the constraint on
performance in multiple teleoperation applications was examined.
Then, the time-delay effects on the collaboration were
investigated through several experimental studies. Finally, a
method to cope with the time-delay in multiple teleoperation
systems was proposed exploiting the virtual thickness modification
scheme.
Fig: Tele-Operation
Fig: Operator
Publications
- Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya,
- Nobuto Matsuhira and Kazuo Tanie
- Virtual Impedance Based Remote Tele-Collaboration with Time Delay,
- Proc. of the 1999 IEEE International Workshop on Robot and Human Interaction(ROMAN99),
- pp.267-272,
- 27, Sep., 1999,
- Nak Young Chong, Kohtaro Ohba, Tetsuo Kotoku, Kiyoshi Komoriya,
- Nobuto Matsuhira and Kazuo Tanie
- Coordinated Rate Control of Multiple Telerobot Systems with Time Delay,
- Proc. of the 1999 IEEE International Conference on System, Man, and Cybernetics(SMC99),
- pp.V1123-V1128,
- 13, Oct., 1999,
- Kohtaro Ohba, Shunichi Kawabata, Nak Young Chong, Kiyoshi Komoriya,
- Takafumi Matsumaru, Nobuto Matsuhira, Kunikatsu Takase and Kazuo Tanie
- Remote Collaboration through Time Delay in Multiple Teleoperation,
- Proc. of the 1999 IEEE International Conference on Intelligent Robots and Systems(IROS99),
- pp.1866-1871,
- 17, Oct., 1999,