Remote collaboration through time delay in multiple teleoperation

K. Ohba, S. Kawabata, N. Y. Chong, K. Komoriya, Takafumi Matsumaru, N. Matsuhira, K. Takase, K. Tanie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

In this paper, remote robot collaboration using a network with communication time delay was discussed in Multi-Operator-Multi-Robot (MOMR) tele-operation. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Problems and several noticeable results have been reported in a Single-Operator-Single-Robot (SOSR) teleoperation system. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, some of the constraint on performance in MOMR teleoperation applications was examined. Then, the time-delay effects on tele-collaboration were investigated through several experimental studies. Finally, a method to cope with the time-delay in MOMR teleoperation systems was proposed exploiting the virtual thickness modification scheme.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages1866-1871
Number of pages6
Volume3
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

Fingerprint

Remote control
Time delay
Robots
Surgery
Communication

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ohba, K., Kawabata, S., Chong, N. Y., Komoriya, K., Matsumaru, T., Matsuhira, N., ... Tanie, K. (1999). Remote collaboration through time delay in multiple teleoperation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1866-1871). Piscataway, NJ, United States: IEEE.

Remote collaboration through time delay in multiple teleoperation. / Ohba, K.; Kawabata, S.; Chong, N. Y.; Komoriya, K.; Matsumaru, Takafumi; Matsuhira, N.; Takase, K.; Tanie, K.

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 Piscataway, NJ, United States : IEEE, 1999. p. 1866-1871.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ohba, K, Kawabata, S, Chong, NY, Komoriya, K, Matsumaru, T, Matsuhira, N, Takase, K & Tanie, K 1999, Remote collaboration through time delay in multiple teleoperation. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, IEEE, Piscataway, NJ, United States, pp. 1866-1871, 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, 99/10/17.
Ohba K, Kawabata S, Chong NY, Komoriya K, Matsumaru T, Matsuhira N et al. Remote collaboration through time delay in multiple teleoperation. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. Piscataway, NJ, United States: IEEE. 1999. p. 1866-1871
Ohba, K. ; Kawabata, S. ; Chong, N. Y. ; Komoriya, K. ; Matsumaru, Takafumi ; Matsuhira, N. ; Takase, K. ; Tanie, K. / Remote collaboration through time delay in multiple teleoperation. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 Piscataway, NJ, United States : IEEE, 1999. pp. 1866-1871
@inproceedings{5885ac66ccfa40f6902b3773732de23e,
title = "Remote collaboration through time delay in multiple teleoperation",
abstract = "In this paper, remote robot collaboration using a network with communication time delay was discussed in Multi-Operator-Multi-Robot (MOMR) tele-operation. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Problems and several noticeable results have been reported in a Single-Operator-Single-Robot (SOSR) teleoperation system. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, some of the constraint on performance in MOMR teleoperation applications was examined. Then, the time-delay effects on tele-collaboration were investigated through several experimental studies. Finally, a method to cope with the time-delay in MOMR teleoperation systems was proposed exploiting the virtual thickness modification scheme.",
author = "K. Ohba and S. Kawabata and Chong, {N. Y.} and K. Komoriya and Takafumi Matsumaru and N. Matsuhira and K. Takase and K. Tanie",
year = "1999",
language = "English",
volume = "3",
pages = "1866--1871",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE",

}

TY - GEN

T1 - Remote collaboration through time delay in multiple teleoperation

AU - Ohba, K.

AU - Kawabata, S.

AU - Chong, N. Y.

AU - Komoriya, K.

AU - Matsumaru, Takafumi

AU - Matsuhira, N.

AU - Takase, K.

AU - Tanie, K.

PY - 1999

Y1 - 1999

N2 - In this paper, remote robot collaboration using a network with communication time delay was discussed in Multi-Operator-Multi-Robot (MOMR) tele-operation. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Problems and several noticeable results have been reported in a Single-Operator-Single-Robot (SOSR) teleoperation system. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, some of the constraint on performance in MOMR teleoperation applications was examined. Then, the time-delay effects on tele-collaboration were investigated through several experimental studies. Finally, a method to cope with the time-delay in MOMR teleoperation systems was proposed exploiting the virtual thickness modification scheme.

AB - In this paper, remote robot collaboration using a network with communication time delay was discussed in Multi-Operator-Multi-Robot (MOMR) tele-operation. Recently, collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. Problems and several noticeable results have been reported in a Single-Operator-Single-Robot (SOSR) teleoperation system. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, some of the constraint on performance in MOMR teleoperation applications was examined. Then, the time-delay effects on tele-collaboration were investigated through several experimental studies. Finally, a method to cope with the time-delay in MOMR teleoperation systems was proposed exploiting the virtual thickness modification scheme.

UR - http://www.scopus.com/inward/record.url?scp=0033324732&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033324732&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0033324732

VL - 3

SP - 1866

EP - 1871

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

CY - Piscataway, NJ, United States

ER -