A predictor for operator input for time-delayed teleoperation |
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| Authors: | Christian Smith Patric Jensfelt |
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| Affiliation: | 1. University of Michigan, Ann Arbor, MI 48109 USA;7. U.S. Army TARDEC, Warren, MI 48092 USA;1. School of Electrical, Mechanical Mechatronic Engineering, University of Technology, Sydney, Ultimo, New South Wales 2007, Australia;2. Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA;3. School of Kinesiology, University of Michigan, Ann Arbor, MI 48109, USA |
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| Abstract: | In this paper we describe a method for bridging internet time delays in a free motion type teleoperation scenario in an unmodeled remote environment with video feedback. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the round-trip communication delay. The predictions are then used to control a remote robot. Thus, the operator can in effect observe the resulting motion of the remote robot with virtually no time-delay, even in the presence of a delay on the physical communications channel. We present results from a visually guided teleoperated line tracing experiment with 100 ms round-trip delays, where we show that the proposed method makes a significant performance improvement for teleoperation with delays corresponding to intercontinental distances. |
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