An Internet Robot Tele-operating System

Author

Quanyu, Wang ; Haifang, Cao ; Xin, Liu

Author_Institution

Sch. of Comput. Sci.&Technol., Beijing Inst. of Technol., Beijing

fYear

2008

fDate

21-24 Sept. 2008

Firstpage

1

Lastpage

6

Abstract

A server-decentralized Internet model based on Jabber for robot tele-operation with P2P stream media transfer supplement based on JXTA is proposed. The system is composed of four components: operators, robots, transfer servers and data-keeper. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the resolved robot/operator through XML streams. The locale audio/video media streams of the robot are sent directly through P2P pipes to the operators. In order to test its availability and performance, the model is implemented and instanced as remote control systems for Virtual Puma560 robot and the Hexapod Monster robot. Experiments of the systems and network tests are carried out to evaluate the instances; the results show that the systems are suitable for many kinds of robot tele-operation scenarios despite the tough network environment.

Keywords

Internet; Java; XML; control engineering computing; legged locomotion; peer-to-peer computing; telerobotics; Internet robot teleoperating system; JXTA; Jabber; P2P stream media transfer supplement; XML streams; hexapod Monster robot; remote control systems; server-decentralized Internet model; virtual Puma560 robot; Humans; Intelligent robots; Internet; Network address translation; Orbital robotics; Protocols; Robotics and automation; Streaming media; Web server; XML; Jabber; P2P; Robot simulation; Tele-operation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2008 IEEE Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1675-2

Electronic_ISBN

978-1-4244-1676-9

Type

conf

DOI

10.1109/RAMECH.2008.4681445

Filename

4681445