|
JAIST Repository >
b. 情報科学研究科・情報科学系 >
b10. 学術雑誌論文等 >
b10-1. 雑誌掲載論文 >
このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/9760
|
| タイトル: | Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II—Testbed Description |
| 著者: | Chong, Nak Young
Kotoku, Tetsuo
Ohba, Kohtaro
Sasaki, Hisayuki
Komoriya, Kiyoshi
Tanie, Kazuo |
| 発行日: | 2002-06 |
| 出版者: | Massachusetts Institute of Technology |
| 誌名: | Presence: Teleoperators and Virtual Environments |
| 巻: | 11 |
| 号: | 3 |
| 開始ページ: | 292 |
| 終了ページ: | 303 |
| DOI: | 10.1162/105474602317473231 |
| 抄録: | The Mechanical Engineering Laboratory (MEL)1 has been developing coordinated control technologies for multi-telerobot cooperation in a common environment remotely controlled from multiple operators physically distant from each other. Previously, we learned about how the transmission delay over the network deteriorates the performance of telerobots through simulations. To overcome the operator's delayed visual perception arising from network throughput limitations, we have suggested several coordinated control aids at the local operator site. The testbed facilitates experiments with physical robots for validation beyond simulation. This paper mainly discusses the details of the testbed and investigates the use of an online predictive simulator to assist the operator in coping with time delay over the network. Practically, a common data relay station is suggested to reduce the travel distance of the master data over the network and enable multirobot predictive simulation at one's master station. Operators control their master to get their telerobot to cooperate with the counterpart telerobot using the predictive simulator as well as video image feedback. Specifically, exploiting the audio-visual resources of the simulator, operators can detect a priori the possibility of collision and coordinate conflicting motions between telerobots. We have demonstrated an object rearrangement task by two telerobots and two operators via an ethernet LAN that is subject to simulated delays and evaluated the validity of the online predictive simulator in Multioperator-Multirobot (MOMR) tele-cooperation. |
| Rights: | Copyright (C) 2002 Massachusetts Institute of Technology. Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Hisayuki Sasaki, Kiyoshi Komoriya and Kazuo Tanie, Presence: Teleoperators and Virtual Environments, 11(3), 2002, 292-303. http://www.mitpressjournals.org/toc/pres/11/3 |
| URI: | http://hdl.handle.net/10119/9760 |
| 資料タイプ: | publisher |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
|
このアイテムのファイル:
| ファイル |
記述 |
サイズ | 形式 |
|---|
| 546.pdf | | 483Kb | Adobe PDF | 見る/開く |
|
当システムに保管されているアイテムはすべて著作権により保護されています。
|
