Development of a multi-telerobot system for remote collaboration

Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya, Fumio Ozaki, Hideaki Hashimoto, Junji Oaki, Katsuhiro Maeda, Nobuto Matsuhira, Kazuo Tanie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

Mechanical Engineering Laboratory (MEL) is developing technologies for multi-robot collaboration in remote environments together with the Toshiba Mechanical Systems Laboratory (TMSL). Human operators' delayed visual perception due to the communication delay over the network seriously affects the collaboration performance in the Multi-Operator-Multi-Robot (MOMR) tele-manipulation and accordingly requires an additional supplementary medium to guide the operators. We have built an experimental tele-manipulation test bed connecting the MEL and the TMSL to research the time-delayed remote tele-collaboration between two places. In the test bed, one operator controls her master robot nearby two slave robots in the work site and another from a distance. A local on-line graphics simulator without time delay is developed to cope with the communication delay and several multi-robot coordinated control strategies are devised to avoid the collision. To verify the validity of this simulator assisted approach, we have demonstrated a maintenance work on a plant mock-up in the TMSL by two different slave robots and two distant operators in the MEL and the TMSL respectively through an Integrated Services Digital Network (ISDN).

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1002-1007
Number of pages6
Volume2
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityTakamatsu
Period00/10/3100/11/5

Fingerprint

Robots
Mechanical engineering
Simulators
Voice/data communication systems
Communication
Time delay

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Chong, N. Y., Kotoku, T., Ohba, K., Komoriya, K., Ozaki, F., Hashimoto, H., ... Tanie, K. (2000). Development of a multi-telerobot system for remote collaboration. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1002-1007)

Development of a multi-telerobot system for remote collaboration. / Chong, Nak Young; Kotoku, Tetsuo; Ohba, Kohtaro; Komoriya, Kiyoshi; Ozaki, Fumio; Hashimoto, Hideaki; Oaki, Junji; Maeda, Katsuhiro; Matsuhira, Nobuto; Tanie, Kazuo.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2000. p. 1002-1007.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chong, NY, Kotoku, T, Ohba, K, Komoriya, K, Ozaki, F, Hashimoto, H, Oaki, J, Maeda, K, Matsuhira, N & Tanie, K 2000, Development of a multi-telerobot system for remote collaboration. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 1002-1007, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, 00/10/31.
Chong NY, Kotoku T, Ohba K, Komoriya K, Ozaki F, Hashimoto H et al. Development of a multi-telerobot system for remote collaboration. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. 2000. p. 1002-1007
Chong, Nak Young ; Kotoku, Tetsuo ; Ohba, Kohtaro ; Komoriya, Kiyoshi ; Ozaki, Fumio ; Hashimoto, Hideaki ; Oaki, Junji ; Maeda, Katsuhiro ; Matsuhira, Nobuto ; Tanie, Kazuo. / Development of a multi-telerobot system for remote collaboration. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2000. pp. 1002-1007
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