| 基于网络的多机器人遥操作系统中的人机交互研究 |
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| 引用本文： | 郑伟,王越超.基于网络的多机器人遥操作系统中的人机交互研究[J].机器人,2007,29(6):0-519. |
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| 作者姓名： | 郑伟 王越超 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,100016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所机器人学重点实验室,辽宁,沈阳,100016 |
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| 摘 要： | 针对基于网络的智能机器人遥操作系统中人机交互的主要难点和现有方法的不足，结合基于网络的多机器人遥操作系统的特点，应用多模式控制的方法丰富了操作者与机器人系统的交互途径，提高了操作效率。在此基础上，为解决网络时延给多机器人遥操作系统中的人机交互带来的问题，提出了一种带有时间标记的基于事件的方法，在保证系统稳定运行的同时提高系统的效率和性能。实验表明了所研究的方法的有效性和优越性。
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| 关 键 词： | 多机器人遥操作 人机交互 时间标记 基于事件的方法 |
| 文章编号： | 1002-0446（2007）06-0513-07 |
| 收稿时间： | 2007-01-08 |
| 修稿时间： | 2007-01-08 |
On Human-Robot Interaction in the Network-Based Multi-Robot Teleoperation System |
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| ZHENG Wei,WANG Yue-chao.On Human-Robot Interaction in the Network-Based Multi-Robot Teleoperation System[J].Robot,2007,29(6):0-519. |
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| Authors: | ZHENG Wei WANG Yue-chao |
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| Affiliation: | Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China ; 2. Graduate School of the Chinese Academy of Sciences, Beifing 100049, China |
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| Abstract: | There are many difficulties in human-robot interaction in the network-based intelligent robot teleoperation system,and all the current approaches have their deficiencies.Based on the characteristics of network-based multi-robot tele-operation system,a multi-mode control method is applied to enhance the interaction between the operator and the robot system and to improve the efficiency of interaction.Then in order to solve the problems brought by the network latency in the interaction,an event-based approach with time marks is presented,which can guarantee system stability and improve system efficiency and performance.Experiments prove the validity and advantages of the presented methods. |
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| Keywords: | multi-robot teleoperation human-robot interaction time mark event-based approach |
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