Mobile robot teleoperation system utilizing virtual world

Author

Sekine, Takeshi ; Suzuki, Tsuyoshi ; Kawabata, Kuniaki ; Fujii, Teruo ; Asama, Hajime ; Sato, Kazumi ; Endo, Isao

Author_Institution

Dept. of Ind. Chem., Sci. Univ. of Tokyo, Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1727

Abstract

This paper discusses the problems in teleoperation systems for mobile robots and the use of a virtual world in these systems. In order to achieve smooth operation of the mobile robot via the communication link, we should consider the delays in data transfer. To compensate the incomplete data sets, virtual images can be generated by computer graphics when the information of the working environment can be acquired beforehand. We construct a virtual world teleoperation system. The performance of the system is examined through experiments with an actual mobile robot. It is shown that the virtual robot can be operated by a human operator in almost the same manner as a teleoperated real robot

Keywords

mobile robots; telerobotics; virtual reality; computer graphics; data transfer delays; incomplete data sets; mobile robot teleoperation system; virtual images; virtual robot; virtual world; Cameras; Chemical technology; Chemistry; Computer displays; Delay effects; Feedback; Humans; Mobile communication; Mobile robots; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.811727

Filename

811727