Control and data transmission for internet robots


For Internet-based tele-robotic systems (Intemet robots). the most challenging and distinct dzflculties are associated with Internet transmission delays, delay jitter and not-guaranteed bandwidth availability, which might lead to dramatic perjormance degradation or even instabilip. In this paper, a new approach fa dealing with these problems is explored and implemented Specifcally, a rate-based end-to-end transport protocol is developed for real-time data transmission and an adaptive control scheme is developed to control the robot remotely. A mobile robot teleoperation system, ArtBot-I, is developed to veri& and test the solutions. In the experiments, the users successfully guided a Pioneer-2 mobile robot through a laboratory environment remotely via the Internet using a web browser.

DOI: 10.1109/ROBOT.2003.1241832

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@inproceedings{Liu2003ControlAD, title={Control and data transmission for internet robots}, author={Peter Xiaoping Liu and Max Q.-H. Meng and Jason Jianjun Gu and Simon X. Yang and Chao Hu}, booktitle={ICRA}, year={2003} }