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Telemanipulation with Time Delays
Abstract
In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation.
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Cited by
The evolution of robotics research
Garcia, E., Jimenez, M. A., De Santos, P. G., & Armada, M. (2007) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2007.339608 · Cited by 371
Towards force-reflecting teleoperation over the Internet
Niemeyer, G., & Slotine, J.-J. E. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.680592 · Cited by 355
Self-citationPosition Tracking for Non-linear Teleoperators with Variable Time Delay
Nuño, E., Basañez, L., Ortega, R., & Spong, M. W. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908099461 · Cited by 242
Haptic Codecs for the Tactile Internet
Steinbach, E., Strese, M., Eid, M., Liu, X., Bhardwaj, A., Liu, Q., Al-Ja'Afreh, M., Mahmoodi, T., Hassen, R., El Saddik, A., et al. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2018.2867835 · Cited by 166
Atashzar, S. F., Shahbazi, M., Tavakoli, M., & Patel, R. V. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364916689139 · Cited by 41
Metadata
- Authors
- Niemeyer, G., & Slotine, J.-J. E.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2004-09
- Volume
- 23
- Issue
- 9
- Pages
- 873-890
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2090972408
- Cited by
- 539
- References
- 0
- FWCI
- 63.28
- Type
- journal article
- Language
- en
- Open access
- closed
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- Niemeyer, G., & Slotine, J.-J. E. (2004). Telemanipulation with Time Delays. The International Journal of Robotics Research. https://doi.org/10.1177/0278364904045563
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
