Remote collaboration through time delay in multiple teleoperation

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

Research output: Contribution to conferencePaper

26 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
Pages1866-1871
Number of pages6
Publication statusPublished - 1999 Dec 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ohba, K., Kawabata, S., Chong, N. Y., Komoriya, K., Matsumaru, T., Matsuhira, N., Takase, K., & Tanie, K. (1999). Remote collaboration through time delay in multiple teleoperation. 1866-1871. Paper presented at 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, .