Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation

Authors

Chaouki T. Abdallah
Oscar Martinez-Palafox
Dongjun Lee
Mark W. Spong
I. Lopez

Document Type

Article

Publication Date

10-9-2006

Abstract

In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order.

Publisher

IEEE

Publication Title

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

ISSN

1-4244-0258-1

First Page

4193

Last Page

4198

DOI

10.1109/IROS.2006.281912

Language (ISO)

English

Sponsorship

IEEE

Keywords

Communication channels, Communication networks, Communication system control

Recommended Citation

Abdallah, Chaouki T.; Oscar Martinez-Palafox; Dongjun Lee; Mark W. Spong; and I. Lopez. "Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation." 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (2006): 4193-4198. doi:10.1109/IROS.2006.281912.